Lighting system and sensor system

ABSTRACT

A light source ( 14 ) is configured to emit light for lighting a predetermined area. A LiDAR sensor ( 15 ) is configured to sense information of an outside of a vehicle. A first screw mechanism ( 16 ) is configured to adjust posture of the light source ( 14 ). A second screw mechanism ( 17 ) is configured to adjust posture of the LiDAR sensor ( 15 ). Adjustment by one of the first screw mechanism ( 16 ) and the second screw mechanism ( 17 ) is performed on the basis of adjustment that has been performed by the other one of the first screw mechanism ( 16 ) and the second screw mechanism ( 17 ).

CROSS REFERENCE PARAGRAPH

This application is a divisional of U.S. application Ser. No.16/324,695, filed Feb. 11, 2019, which is a National Stage ofInternational Application No. PCT/JP2017/028098, filed Aug. 2, 2017,which claims priority from Japanese Patent Application Nos. 2017-055703,filed Mar. 22, 2017; 2016-158726, filed Aug. 12, 2016; and 2016-158725,filed Aug. 12, 2016, in the Japanese Patent Office, the disclosures ofwhich are incorporated herein by reference in their respectiveentireties.

TECHNICAL FIELD

The presently disclosed subject matter relates to a lighting system anda sensor system that are adapted to be mounted on a vehicle.

BACKGROUND ART

In order to realize a self-driving technique of a vehicle, sensors forobtaining information of the outside of the vehicle shall be mounted ona vehicle body. As examples of such sensors, a camera and a LiDAR (LightDetection and Ranging) sensor are known (see Patent Document 1, forexample). The LiDAR sensor is a device configured to emit non-visiblelight to obtain information as to distances to an object and informationas to an attribute of the object based on the reflected light.

When a light source for lighting a predetermined area around a vehicleis mounted on a vehicle body, it is necessary to adjust a posture of thelight source with respect to the vehicle body or a lighting referenceposition of the light source. Similarly, when the sensor is mounted on avehicle body, it is necessary to adjust a posture of the sensor withrespect to the vehicle body or a sensing reference position of thesensor. It is known that, by integrating the light source with thesensor, a single adjustment mechanism is used to collectively adjust thelighting reference position of the light source and the sensingreference position of the sensor (see Patent Document 2, for example).

PRIOR ART DOCUMENT Patent Document

Patent Document 1: Japanese Patent Publication No. 2010-185769A

Patent Document 2: Japanese Patent Publication No. H05-027037A

SUMMARY Technical Problem

In the technique described in Patent Document 2, since it is necessaryto integrate the light source with the sensor in order to collectivelyadjust the lighting reference position of the light source and thesensing reference position of the sensor, the degree of freedom inlayouts of the light source and the sensor is limited. Conversely, inorder to secure the degree of freedom in layouts of the light source andthe sensor, it is necessary to separately provide a mechanism foradjusting the lighting reference position of the light source and amechanism for adjusting the sensing reference position of the sensor. Asthe number of adjustment mechanism increases, the burden of theadjustment operation is increased.

Therefore, it is demanded to reduce the burden of the postureadjustments of the light source and the sensor with respect to thevehicle body or adjusting the lighting reference position of the lightsource and the sensing reference position of the sensor while securingthe degree of freedom in layouts of the light source and the sensor (thefirst demand).

When the sensor as described above is mounted on a vehicle body, it isnecessary to adjust the posture of the sensor with respect to thevehicle body or the sensing reference position of the sensor. As thenumber of types of sensors increases, the burden of the adjustmentoperation is increased because the number of objects requiringadjustment increases.

Therefore, even if the type of sensor mounted on the vehicle increases,it is demanded to reduce the burden of adjusting the sensing referenceposition of each sensor (the second demand).

Solution to Problem

In order to satisfy the first demand described above, an illustrativeaspect of the presently disclosed subject matter provides a lightingsystem adapted to be mounted on a vehicle, comprising:

a light source configured to emit light for lighting a predeterminedarea;

a sensor configured to sense information of an outside of the vehicle;

a first adjuster configured to adjust posture of the light source; and

a second adjuster configured to adjust posture of the sensor,

wherein adjustment by one of the first adjuster and the second adjusteris performed on the basis of adjustment that has been performed by theother one of the first adjuster and the second adjuster.

With the above configuration, since the result of the posture adjustmentof one of the light source and the sensor is reflected in the postureadjustment of the other, it is possible to reduce the burden of the workfor adjusting the postures of the light source and the sensor withrespect to the vehicle body while securing the degree of freedom inlayouts of the light source and the sensor.

In addition, from the viewpoint of efficiently obtaining informationaround the vehicle and from the viewpoint of design, it is desired toinclude a sensor for obtaining information outside the vehicle in alighting system disposed at four corners of the vehicle. According tosuch a configuration, since the posture adjustment of the light sourceand the posture adjustment of the sensor can be associated with eachother, the light source and the sensor can be integrated in the lightingsystem. That is, it is possible to satisfy the above-mentioned demand.

The lighting system may be configured such that:

the first adjuster includes a first screw mechanism;

the second adjuster includes a second screw mechanism; and

the lighting system comprises a flexible shaft configured to transmit anactuation with respect to one of the first screw mechanism and thesecond screw mechanism to the other one of the first screw mechanism andthe second screw mechanism.

With the above configuration, information as to adjusted amount for oneof the light source and the sensor is transmitted to the other of thelight source and the sensor only with the mechanical components.Therefore, it is easy to secure operation reliability with respect tothe first screw mechanism and the second screw mechanism, which are usedrelatively infrequently.

In this case, the lighting system may be configured such that at leastone of the first screw mechanism and the second screw mechanism iscoupled to the flexible shaft via a reduction gear mechanism.

With the above configuration, the adjusted amount by the first screwmechanism can be transmitted to the second screw mechanism at apredetermined ratio. That is, it is possible to provide arbitrariness onhow to transmit the adjusted amount from one of the first screwmechanism and the second screw mechanism to the other.

Alternatively, the lighting system may be configured such that:

one of the first adjuster and the second adjuster includes a screwmechanism;

the other one of the first adjuster and the second adjuster includes anactuator;

the lighting system comprises a sensor configured to output a sensingsignal corresponding to an actuation with respect to the screwmechanism; and

an actuation signal corresponding to the sensing signal is input to theactuator.

With the above configuration, the posture of the light source can beadjusted by using an actuator used to change the lighting range of thelight source, for example. Therefore, as for the light source, aseparate adjustment mechanism such as the first screw mechanism can beomitted. Similarly, the posture of the sensor can be adjusted by usingan actuator used to change the sensing range of the sensor, for example.Therefore, as for the sensor, a separate adjustment mechanism such asthe second screw mechanism can be omitted.

Alternatively, the lighting system may be configured such that:

the first adjuster includes a first actuator;

the second adjuster includes a second actuator; and

a signal corresponding to an actuation performed by one of the firstactuator and the second actuator is input to the other one of the firstactuator and the second actuator.

With the above configuration, according to the above-mentioned reasons,both the separate adjustment mechanism such as the first screw mechanismand the separate adjustment mechanism such as the second screw mechanismcan be omitted.

The lighting system may be configured such that the light source isconfigured to emit light to form a pattern to be used to perform theadjustment by the one of the first adjuster and the second adjuster.

With the above configuration, the posture adjustments of the lightsource and the sensor with respect to the vehicle body can be easilycarried out after the lighting system is mounted on the vehicle body.

In order to satisfy the first demand described above, an illustrativeaspect of the presently disclosed subject matter provides a lightingsystem adapted to be mounted on a vehicle, comprising:

a light source configured to emit light for lighting a predeterminedarea; and

a sensor configured to sense information of an outside of the vehicle,

wherein adjustment of a lighting reference position of the light sourceand a sensing reference position of the sensor is performed on the basisof adjustment that has been performed by the other one of the lightingreference position and the sensing reference position.

With the above configuration, since the result of adjusting one of thelighting reference position of the light source and the sensingreference position of the sensor is reflected in the other referenceposition adjustment, it is possible to reduce the burden of the work foradjusting the lighting reference position of the light source and thesensing reference position of the sensor while securing the degree offreedom in layouts of the light source and the sensor.

In addition, from the viewpoint of efficiently obtaining informationaround the vehicle and from the viewpoint of design, it is desired toinclude a sensor for obtaining information outside the vehicle in alighting system disposed at four corners of the vehicle. According tosuch a configuration, since the lighting reference position adjustmentof the light source and the sensing reference position adjustment of thesensor can be associated with each other, the light source and thesensor can be integrated in the lighting system. That is, it is possibleto satisfy the above-mentioned demand.

The lighting system may be configured such that the light source isconfigured to emit light to form a pattern to be used to perform theadjustment of the one of the lighting reference position and the sensingreference position.

With the above configuration, the adjustments of the lighting referenceposition of the light source and the sensing reference position of thesensor can be easily carried out after the lighting system is mounted onthe vehicle body.

In order to satisfy the first demand described above, an illustrativeaspect of the presently disclosed subject matter provides a lightingsystem adapted to be mounted on a vehicle, comprising:

a light source configured to emit light for lighting a predeterminedarea;

a sensor configured to sense information of an outside of the vehicle;and

a corrector configured to correct the information sensed by the sensoron the basis of information as to a lighting reference position of thelight source.

With the above configuration, it is possible to omit a configuration foradjusting a sensing reference position of the sensor. Therefore, it ispossible to reduce the burden of the work for adjusting the lightingreference position of the light source and the sensing referenceposition of the sensor while securing the degree of freedom in layoutsof the light source and the sensor.

In addition, from the viewpoint of efficiently obtaining informationaround the vehicle and from the viewpoint of design, it is desired toinclude a sensor for obtaining information outside the vehicle in alighting system disposed at four corners of the vehicle. According tosuch a configuration, since the lighting reference position adjustmentof the light source and the sensing reference position adjustment of thesensor can be associated with each other, the light source and thesensor can be integrated in the lighting system. That is, it is possibleto satisfy the above-mentioned demand.

Moreover, since the configuration for adjusting the sensing referenceposition of the sensor can be omitted, it is easy to suppress anincrease in size of the structure. This facilitates the integration ofthe light source and the sensor into the lighting system.

The lighting system may be configured such that the light source isconfigured to emit light to form a pattern to be used to obtain theinformation as to the lighting reference position.

With the above configuration, the information as to the lightingreference position of the light source that is obtained after thelighting system is mounted on the vehicle body can be reflected in thecorrection performed by the corrector.

The lighting system according to each illustrative aspect for satisfyingthe first demand may be configured such that:

the light source is disposed so as to light at least a front-reardirection of the vehicle; and

the sensor is disposed so as to obtain information of at least on theleft and on the right of the vehicle.

In order to obtain information as to the left and right sides of thevehicle, it is preferable that the sensor is disposed at a positionfacing the left and right sides of the vehicle body of the vehicle. Insuch a layout, it may be difficult to adjust the posture of the sensordue to structural reasons of the vehicle body. However, according to theabove configuration, since the result of the adjustment of the postureor the lighting reference position of the light source is reflected inthe adjustment of the posture or the sensing reference position of thesensor, the above-mentioned difficulty can be avoided.

In order to satisfy the second demand described above, an illustrativeaspect of the presently disclosed subject matter provides a sensorsystem adapted to be mounted on a vehicle, comprising:

a first sensor configured to sense information of an outside of thevehicle;

a second sensor configured to sense information of the outside of thevehicle in a different manner from the first sensor; and

a first adjuster configured to adjust posture of the first sensor,

wherein adjustment of the posture of the first sensor by the firstadjuster is performed on the basis of the information that has beensensed by the second sensor.

With the above configuration, since the posture of the first sensor isautomatically adjusted on the basis of the information sensed by thesecond sensor, it is possible to reduce the burden of the work foradjusting the posture of the first sensor with respect to the vehiclebody.

For example, in a case where the posture of the first sensor is adjustedby using an actuator used to change the sensing range of the firstsensor, a separate adjustment mechanism such as an aiming screwmechanism can be omitted for the first sensor.

The sensor system may comprise: a light source configured to emit lightfor lighting a predetermined area; and a second adjuster configured toadjust posture of the light source. The sensor system may be configuredsuch that adjustment of the posture of the light source by the secondadjuster is performed on the basis of the information that has beensensed by the second sensor.

With the above configuration, since the posture of the light source isautomatically adjusted on the basis of the information sensed by thesecond sensor, it is possible to reduce the burden of the work foradjusting the posture of the light source with respect to the vehiclebody.

For example, in a case where the posture of the light source 78 isadjusted by using an actuator used to change the lighting range of thelight source, a separate adjustment mechanism such as an aiming screwmechanism can be omitted for the light source.

From the viewpoint of efficiently obtaining information around thevehicle and from the viewpoint of design, it is desired to dispose asensor for obtaining information of the outside of the vehicle atlocations in the vicinity of lighting devices that are disposed at fourcorners of the vehicle. According to such a configuration, since theposture adjustment of the light source and the posture adjustment of thefirst sensor can be associated with each other through the secondsensor, the light source can be integrated into the sensor system. Thatis, it is possible to satisfy the above-mentioned demand.

In order to satisfy the second demand described above, an illustrativeaspect of the presently disclosed subject matter provides a sensorsystem adapted to be mounted on a vehicle, comprising:

a first sensor configured to sense information of an outside of thevehicle;

a second sensor configured to sense information of the outside of thevehicle in a different manner from the first sensor; and

a first adjuster configured to adjust a sensing reference position ofthe first sensor,

wherein adjustment of the sensing reference position of the first sensorby the first adjuster is performed on the basis of the information thathas been sensed by the second sensor.

With the above configuration, since the sensing reference position ofthe first sensor is automatically adjusted on the basis of theinformation sensed by the second sensor, it is possible to reduce theburden of the work for adjusting the sensing reference position of thefirst sensor with respect to the vehicle body.

The sensor system may comprise a light source configured to emit lightfor lighting a predetermined area. The sensor system may be configuredsuch that a lighting reference position of the light source is adjustedon the basis of the information that has been sensed by the secondsensor.

With the above configuration, since the lighting reference position ofthe light source is automatically adjusted on the basis of theinformation sensed by the second sensor, it is possible to reduce theburden of the work for adjusting the lighting reference position of thelight source with respect to the vehicle body.

From the viewpoint of efficiently obtaining information around thevehicle and from the viewpoint of design, it is desired to dispose asensor for obtaining information of the outside of the vehicle atlocations in the vicinity of lighting devices that are disposed at fourcorners of the vehicle. According to such a configuration, since theadjustment of the lighting reference position of the light source andthe adjustment of the sensing reference position of the first sensor canbe associated with each other through the second sensor, the lightsource can be integrated into the sensor system. That is, it is possibleto satisfy the above-mentioned demand.

The sensor system according to each illustrative aspect for satisfyingthe second demand may be configured such that the first sensor and thesecond sensor are supported by a common support member.

In this case, the posture or the sensing reference position of thesecond sensor can be adjusted at the same time as the posture or thesensing reference position of the first sensor is adjusted. Therefore,in a case where plural kinds of sensors are mounted on the vehicle, theburden of the work for adjusting the sensing reference position of eachsensor can be reduced.

In order to satisfy the second demand described above, an illustrativeaspect of the presently disclosed subject matter provides a sensorsystem adapted to be mounted on a vehicle, comprising:

a first sensor configured to sense information of an outside of thevehicle;

a second sensor configured to sense information of the outside of thevehicle in a different manner from the first sensor; and

a corrector configured to correct the information sensed by the firstsensor on the basis of the information that has been sensed by thesecond sensor.

With the above configuration, since a configuration for adjusting asensing reference position of the first sensor can be omitted, it ispossible to reduce the burden of the work for adjusting the sensingreference position of the first sensor with respect to the vehicle body.

In addition, since the configuration for adjusting the sensing referenceposition of the first sensor can be omitted, it is easy to suppress anincrease in size of the structure. This facilitates the integration ofthe first sensor and the second sensor into the sensor system.

The sensor system may comprise a light source configured to emit lightfor lighting a predetermined area. The sensor system may be configuredsuch that a lighting reference position of the light source is adjustedon the basis of the information that has been sensed by the secondsensor.

With the above configuration, since the lighting reference position ofthe light source is automatically adjusted on the basis of theinformation sensed by the second sensor, it is possible to reduce theburden of the work for adjusting the lighting reference position of thelight source with respect to the vehicle body.

From the viewpoint of efficiently obtaining information around thevehicle and from the viewpoint of design, it is desired to dispose asensor for obtaining information of the outside of the vehicle atlocations in the vicinity of lighting devices that are disposed at fourcorners of the vehicle. With the above configuration, since theconfiguration for adjusting the sensing reference position of the firstsensor can be omitted, it is easy to suppress an increase in size of thestructure. Accordingly, it is possible to satisfy the above-mentioneddemand.

The sensor system according to each illustrative aspect for satisfyingthe second demand may be configured such that the second sensor is acamera configured to capture an image of the outside of the vehicle.

With the above configuration, in a case where the positional deviationof the sensor constituting the sensor system with respect to the vehiclebody is obtained as the information, such information can be obtainedrelatively easily on the basis of the image processing.

The sensor system according to each illustrative aspect for satisfyingthe second demand may be configured such that:

the first sensor is disposed so as to obtain information of at least onthe left and on the right of the vehicle; and

the second sensor is disposed so as to obtain information of at leastahead of and behind the vehicle.

In order to obtain information as to the left and right sides of thevehicle, it is preferable that the first sensor is disposed at aposition facing the left and right sides of the vehicle body of thevehicle. In such a layout, there would be a case where the adjustment ofthe posture of the first sensor is difficult due to structural reasonsof the vehicle body. However, according to the above configuration,since the posture of the first sensor is automatically adjusted based onthe positional deviation of the sensor system with respect to thevehicle body sensed through the second sensor, the above-describeddifficulty can be avoided.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 illustrates a position of a lighting system on a vehicle.

FIG. 2 illustrates a lighting system according to a first embodiment.

FIG. 3 illustrates a lighting system according to a second embodiment.

FIG. 4 illustrates a lighting system according to a third embodiment.

FIG. 5 illustrates a lighting system according to a fourth embodiment.

FIG. 6 illustrates a lighting system according to a fifth embodiment.

FIG. 7 illustrates a lighting system according to a sixth embodiment.

FIG. 8 illustrates a lighting system according to a first modifiedexample of the sixth embodiment.

FIG. 9 illustrates a lighting system according to a second modifiedexample of the sixth embodiment.

FIG. 10 illustrates a pattern formed by a light source of the lightingsystem.

FIG. 11 illustrates information obtained from the pattern of FIG. 10.

FIG. 12 illustrates information obtained from the pattern of FIG. 10.

FIG. 13 illustrates information obtained from the pattern of FIG. 10.

FIG. 14 illustrates a sensor system according to a seventh embodiment.

FIG. 15 illustrates operations of a signal processor in the sensorsystem.

FIG. 16 illustrates a sensor system according to an eighth embodiment.

FIG. 17 illustrates a sensor system according to a ninth embodiment.

FIG. 18 illustrates a sensor system according to a modified example ofthe ninth embodiment.

DESCRIPTION OF EMBODIMENTS

Examples of embodiments will be described below in detail with referenceto the accompanying drawings. In each of the drawings used in thefollowing descriptions, the scale is appropriately changed in order tomake each of the members have a recognizable size.

In the accompanying drawings, an arrow F represents a forward directionof the illustrated structure. An arrow B represents a rearward directionof the illustrated structure. An arrow L represents a leftward directionof the illustrated structure. An arrow R represents a rightwarddirection of the illustrated structure. The terms of “left” and “right”used in the following descriptions indicate the left-right directions asviewed from the driver's seat. In the accompanying drawings, the term“up-down direction” corresponds to the direction perpendicular to thedrawing sheet.

As shown in FIG. 1, a left front lighting system 1LF according to afirst embodiment is mounted on a left front corner of a vehicle 100. Aright front lighting system 1RF according to the first embodiment ismounted on a right front corner of the vehicle 100.

FIG. 2 schematically shows a configuration of the right front lightingsystem 1RF. Although not shown, the left front lighting system 1LF has aconfiguration symmetrical with the right front lighting system 1RFrelative to the left-right direction.

The right front lighting system 1RF includes a housing 11 and atranslucent cover 12. The housing 11 and the translucent cover 12 definea lamp chamber 13.

The right front lighting system 1RF includes a light source 14. Thelight source 14 includes an optical system including at least one of alens and a reflector, and emits light for lighting a predetermined area.The light source 14 is disposed in the lamp chamber 13. As the lightsource 14, a lamp light source or a light emitting element can be used.Examples of a lamp light source include an incandescent lamp, a halogenlamp, a discharge lamp, and a neon lamp. Examples of the light emittingelement include a light emitting diode, a laser diode, and an organic ELelement.

The right front lighting system 1RF includes a LiDAR sensor 15. TheLiDAR sensor 15 has a configuration for emitting non-visible light and aconfiguration for sensing returned light as a result of the non-visiblelight being reflected by an object existing outside the vehicle 100.That is, the LiDAR sensor 15 is a sensor for sensing information of theoutside of the vehicle 100. As required, the LiDAR sensor 15 may includea scan device that sweeps the non-visible light to change the lightemitting direction (i.e., the sensing direction). In the presentembodiment, infrared light having a wavelength of 905 nm is used as thenon-visible light.

The LiDAR sensor 15 can obtain the distance to the object associatedwith the returned light, for example, based on the time period from thetime when the non-visible light is emitted in a certain direction to thetime when the returned light is sensed. Further, by accumulating suchdistance data in association with the sensing position, it is possibleto obtain information as to the shape of the object associated with thereturned light. Additionally or alternatively, information as to anattribute such as the material of the object associated with thereturned light can be obtained based on the difference in wavelengthbetween the emitted light and the returned light. Additionally oralternatively, information about the color of the object, such as awhite line on the road surface, can be obtained, for example, based onthe difference in reflectivity of the returned light from the roadsurface.

The LiDAR sensor 15 outputs a signal corresponding to an attribute(intensity, wavelength or the like) of the sensed returned light. Theabove-mentioned information is obtained by appropriately processingsignal output from the LiDAR sensor 15 by an information processor (notshown). The information processor may be provided in the right frontlighting system 1RF or may be mounted on the vehicle 100.

The right front lighting system 1RF includes a first screw mechanism 16,which is an example of a first adjuster. The first screw mechanism 16 isa mechanism for adjusting the posture of the light source 14.Specifically, the first screw mechanism 16 includes a first horizontaladjusting screw 161 and a first vertical adjusting screw 162.

A first horizontal adjusting screw 161 extends through the housing 11.The first horizontal adjusting screw 161 is coupled to the light source14 via a joint (not shown). A head portion 161 a of the first horizontaladjusting screw 161 is disposed outside the housing 11. When the headportion 161 an is rotated by a predetermined tool, the rotation of thefirst horizontal adjusting screw 161 is converted into a motion forchanging the posture of the light source 14 in a horizontal plane (in aplane including the front-rear direction and the left-right direction inthe drawing) by the joint. It should be noted that the “horizontalplane” used herein need not coincide with a strict horizontal plane.Since the construction itself of the joint is well known, detaileddescriptions thereof will be omitted.

The first vertical adjusting screw 162 extends through the housing 11.The first vertical adjusting screw 162 is coupled to the light source 14via a joint (not shown). The head portion 162 a of the first verticaladjusting screw 162 is disposed outside the housing 11. When the headportion 162 an is rotated by a predetermined tool, the rotation of thefirst vertical adjusting screw 162 is converted into a motion forchanging the posture of the light source 14 in the vertical plane (inthe plane including the left-right direction and the up-down directionin the drawing) by the joint. It should be noted that the “verticalplane” used herein need not coincide with a strict vertical plane. Sincethe construction itself of the joint is well known, detaileddescriptions thereof will be omitted.

The right front lighting system 1RF includes a second screw mechanism17, which is an example of a second adjuster. The second screw mechanism17 is a mechanism for adjusting the posture of the LiDAR sensor 15.Specifically, the second screw mechanism 17 includes a second horizontaladjusting screw 171 and a second vertical adjusting screw 172.

The second horizontal adjusting screw 171 extends through the housing11. The second horizontal adjusting screw 171 is coupled to the LiDARsensor 15 via a joint (not shown). A head portion 171 a of the secondhorizontal adjusting screw 171 is disposed outside the housing 11. Whenthe head portion 171 an is rotated by a predetermined tool, the rotationof the second horizontal adjusting screw 171 is converted into a motionfor changing the posture of the LiDAR sensor 15 in a horizontal plane(in a plane including the front-rear direction and the left-rightdirection in the drawing) by the joint. It should be noted that the“horizontal plane” used herein need not coincide with a stricthorizontal plane. Since the construction itself of the joint is wellknown, detailed descriptions thereof will be omitted.

A second vertical adjusting screw 172 extends through the housing 11.The second vertically adjusting screw 172 is coupled to the LiDAR sensor15 via a joint (not shown). A head portion 172 a of the second verticaladjusting screw 172 is disposed outside the housing 11. When the headportion 172 an is rotated by a predetermined tool, the rotation of thesecond vertical adjusting screw 172 is converted into a motion forchanging the posture of the LiDAR sensor 15 in the vertical plane (inthe plane including the left-right direction and the up-down directionin the drawing) by the joint. It should be noted that the “verticalplane” used herein need not coincide with a strict vertical plane. Sincethe construction itself of the joint is well known, detaileddescriptions thereof will be omitted.

The right front lighting system 1RF includes a horizontal adjustingflexible shaft 181. One end of the horizontal adjusting flexible shaft181 is coupled to the head portion 161 a of the first horizontaladjusting screw 161. The other end of the horizontal adjusting flexibleshaft 181 is coupled to the head portion 171 a of the second horizontaladjusting screw 171.

The coupling between the first horizontal adjusting screw 161 and thesecond horizontal adjusting screw 171 by the horizontal adjustingflexible shaft 181 is made after the horizontal posture adjustment ofthe light source 14 with respect to the housing 11 using the firsthorizontal adjusting screw 161 and the horizontal posture adjustment ofthe LiDAR sensor 15 with respect to the housing 11 using the secondhorizontal adjusting screw 171 are completed.

When the head portion 161 a of the first horizontal adjusting screw 161is rotated to adjust the posture of the light source 14 in thehorizontal plane, the rotary actuation force is transmitted to the headportion 171 a of the second horizontal adjusting screw 171 through thehorizontal adjusting flexible shaft 181, so that the head portion 171 ais rotated. As a result, the second horizontal adjusting screw 171 isrotated by an amount corresponding to the actuated amount of the firsthorizontal adjusting screw 161, so that the posture of the LiDAR sensor15 in the horizontal plane is adjusted.

Conversely, when the head portion 171 a of the second horizontaladjusting screw 171 is rotated to adjust the posture of the LiDAR sensor15 in the horizontal plane, the rotary actuation force is transmitted tothe head portion 161 a of the first horizontal adjusting screw 161through the horizontal adjusting flexible shaft 181, so that the headportion 161 an is rotated. As a result, the first horizontal adjustingscrew 161 is rotated by an amount corresponding to the actuated amountof the second horizontal adjusting screw 171, so that the posture of thelight source 14 in the horizontal plane is adjusted.

The right front lighting system 1RF includes a vertical adjustingflexible shaft 182. One end of the vertical adjusting flexible shaft 182is coupled to the head portion 162 a of the first vertical adjustingscrew 162. The other end of the vertical adjusting flexible shaft 182 iscoupled to the head portion 172 a of the second vertical adjusting screw172.

The coupling of the first vertical adjusting screw 162 and the secondvertical adjusting screw 172 by the vertical adjusting flexible shaft182 is made after the vertical posture adjustment of the light source 14with respect to the housing 11 using the first vertical adjusting screw162 and the vertical posture adjustment of the LiDAR sensor 15 withrespect to the housing 11 using the second vertical adjusting screw 172are completed.

When the head portion 162 a of the first vertical adjusting screw 162 isrotated to adjust the posture of the light source 14 in the verticalplane, the rotary actuation force is transmitted to the head portion 172a of the second vertical adjusting screw 172 through the verticaladjusting flexible shaft 182, so that the head portion 172 an isrotated. As a result, the second vertical adjusting screw 172 is rotatedby an amount corresponding to the actuated amount of the first verticaladjusting screw 162, so that the posture of the LiDAR sensor 15 in thevertical plane is adjusted.

Conversely, when the head portion 172 a of the second vertical adjustingscrew 172 is rotated to adjust the posture of the LiDAR sensor 15 in thevertical plane, the rotary actuation force is transmitted to the headportion 162 a of the first vertical adjusting screw 162 through thevertical adjusting flexible shaft 182, so that the head portion 162 anis rotated. As a result, the first vertical adjusting screw 162 isrotated by an amount corresponding to the actuated amount of the secondvertical adjusting screw 172, so that the posture of the light source 14in the vertical plane is adjusted.

That is, in the right front lighting system 1RF, the adjustment by oneof the first screw mechanism 16 and the second screw mechanism 17 isperformed based on the adjustment performed by the other of the firstscrew mechanism 16 and the second screw mechanism 17.

According to such a configuration, since the result of the postureadjustment of one of the light source 14 and the LiDAR sensor 15 isreflected in the posture adjustment of the other, it is possible toreduce the burden of the work for adjusting the postures of the lightsource 14 and the LiDAR sensor 15 with respect to the vehicle body whilesecuring the degree of freedom in layouts of the light source 14 and theLiDAR sensor 15.

In addition, from the viewpoint of efficiently obtaining informationaround the vehicle and from the viewpoint of design, it is desired toinclude a sensor for obtaining information outside the vehicle in alighting system disposed at four corners of the vehicle. According tosuch a configuration, since the posture adjustment of the light source14 and the posture adjustment of the LiDAR sensor 15 can be associatedwith each other, the light source 14 and the LiDAR sensor 15 can beintegrated in the right front lighting system 1RF. That is, it ispossible to satisfy the above-mentioned demand.

The actuation of one of the first screw mechanism 16 and the secondscrew mechanism 17 is transmitted to the other of the first screwmechanism 16 and the second screw mechanism 17 through the horizontaladjusting flexible shaft 181 and the vertical adjusting flexible shaft182. In other words, information as to adjusted amount for one of thelight source 14 and the LiDAR sensor 15 is transmitted to the other ofthe light source 14 and the LiDAR sensor 15 only with the mechanicalcomponents. Therefore, it is easy to secure operation reliability withrespect to the first screw mechanism 16 and the second screw mechanism17, which are used relatively infrequently.

In the present embodiment, the head portion 171 a of the secondhorizontal adjusting screw 171 is coupled to the horizontal adjustingflexible shaft 181 via a horizontal adjusting reduction gear mechanism183. The head portion 172 a of the second vertical adjusting screw 172is coupled to the vertical adjusting flexible shaft 182 via a verticaladjusting reduction gear mechanism 184.

According to such a configuration, the adjusted amount by the firsthorizontal adjusting screw 161 can be transmitted to the secondhorizontal adjusting screw 171 at a predetermined ratio. Similarly, theadjusted amount by the first vertical adjusting screw 162 can betransmitted to the second vertical adjusting screw 172 at apredetermined ratio. That is, it is possible to provide arbitrariness onhow to transmit the adjusted amount from one of the first screwmechanism 16 and the second screw mechanism 17 to the other.

For example, the amount of change in the posture of the light source 14by a certain adjusted amount of the first horizontal adjusting screw 161and the amount of change in the posture of the LiDAR sensor 15 by thesame adjusted amount of the second horizontal adjusting screw 171 maydiffer due to the difference in the dimensions or shapes of the lightsource 14 and the LiDAR sensor 15. The same applies to the firstvertical adjusting screw 162 and the second vertical adjusting screw172. According to the above configuration, by appropriately setting thereduction ratio of the horizontal adjusting reduction gear mechanism 183and the vertical adjusting reduction gear mechanism 184, the amount ofchange in the posture of the light source 14 and the amount of change inthe posture of the LiDAR sensor 15 can be matched as required.

Additionally or alternatively, the head portion 161 a of the firsthorizontal adjusting screw 161 may be coupled to the horizontaladjusting flexible shaft 181 via a reduction gear mechanism.Additionally or alternatively, the head portion 162 a of the firstvertical adjusting screw 162 may be coupled to the vertical adjustingflexible shaft 182 via a reduction gear mechanism.

In the present embodiment, the light source 14 is arranged to light atleast ahead of the vehicle 100 (an example of the front-rear directionof the vehicle), and the LiDAR sensor 15 is arranged to obtaininformation of at least on the right of the vehicle 100 (an example ofthe left-right direction of the vehicle).

In order to obtain information as to the right side of the vehicle 100,it is preferable that the LiDAR sensor 15 is disposed at a positionfacing the right side of the vehicle body of the vehicle 100. In such alayout, it may be difficult to adjust the posture of the LiDAR sensor 15due to structural reasons of the vehicle body. However, according to theabove configuration, since the result of the posture adjustment of thelight source 14 is reflected in the posture adjustment of the LiDARsensor 15, the above-mentioned difficulty can be avoided.

FIG. 3 schematically shows a configuration of a right front lightingsystem 2RF according to a second embodiment. Although not shown, a leftfront lighting system mounted on the left front corner of the vehicle100 has a configuration symmetrical with the right front lighting system2RF. Components that are the same as or equivalent to those of the rightfront lighting system 1RF according to the first embodiment are assignedwith the same reference numerals, and repetitive descriptions for thosewill be omitted.

The right front lighting system 2RF includes a sensor actuator 27, whichis an example of the second adjuster. The sensor actuator 27 is a devicefor adjusting the posture of the LiDAR sensor 15. At least a portion ofthe sensor actuator 27 is disposed in the lamp chamber 13 and is coupledto the LiDAR sensor 15.

The sensor actuator 27 is configured to change the posture of the LiDARsensor 15 in a horizontal plane (in a plane including the front-reardirection and the left-right direction in the drawing) and in a verticalplane (in a plane including the left-right direction and the up-downdirection in the drawing). Since the structure of such an actuatoritself is well known, detailed descriptions thereof will be omitted.

The right front lighting system 2RF includes a horizontal adjustingsensor 281. The horizontal adjusting sensor 281 is configured to outputa first horizontal sensing signal SH1 corresponding to the actuation ofthe first horizontal adjusting screw 161 in the first screw mechanism16. The first horizontal sensing signal SH1 may indicate a change in therotational angular position of the first horizontal adjusting screw 161,or may indicate the rotation amount of the first horizontal adjustingscrew 161. Alternatively, the first horizontal sensing signal SH1 mayindicate the posture or position in the horizontal direction of thelight source 14, or may indicate the amount of change in the posture orposition in the horizontal direction of the light source 14.

The right front lighting system 2RF includes a vertical adjusting sensor282. The vertical adjusting sensor 282 is configured to output a firstvertical sensing signal SV1 corresponding to the actuation of the firstvertical adjusting screw 162 in the first screw mechanism 16. The firstvertical sensing signal SV1 may indicate a change in the rotationalangular position of the first vertical adjusting screw 162, or mayindicate an amount of rotation of the first vertical adjusting screw162. Alternatively, the first vertical sensing signal SV1 may indicatethe posture or position in the vertical direction of the light source14, or may indicate the amount of change in the posture or position inthe vertical direction of the light source 14.

The right front lighting system 2RF includes a signal processor 29. Thesignal processor 29 may be realized as a function of an electroniccontrol unit (ECU) mounted on the vehicle 100, or may be realized as afunction of a control device (controller) disposed in the lamp chamber13.

The signal processor 29 generates a second horizontal actuation signalAH2 based on the first horizontal sensing signal SH1 output from thehorizontal adjusting sensor 281, and inputs the same into the sensoractuator 27. The second horizontal actuation signal AH2 has an attribute(voltage value, current value, frequency, etc.) corresponding to theadjusted amount of the posture of the LiDAR sensor 15 in the horizontalplane, which is determined based on the adjusted amount of the postureof the light source 14 in the horizontal plane sensed by the horizontaladjusting sensor 281.

The generation and output of the second horizontal actuation signal AH2by the signal processor 29 are made after the horizontal postureadjustment of the light source 14 with respect to the housing 11 usingthe first horizontal adjusting screw 161 and the horizontal postureadjustment of the LiDAR sensor 15 with respect to the housing 11 usingthe sensor actuator 27 are completed.

In addition, the signal processor 29 generates the second verticalactuation signal AV2 based on the first vertical sensing signal SV1output from the vertical adjusting sensor 282, and inputs the same tothe sensor actuator 27. The second vertical adjusting signal AV2 has anattribute (voltage value, current value, frequency, etc.) correspondingto the adjusted amount of the posture of the LiDAR sensor 15 in thevertical plane, which is determined based on the adjusted amount of theposture of the light source 14 in the vertical plane sensed by thevertical adjusting sensor 282.

The generation and output of the second vertical adjusting signal AV2 bythe signal processor 29 are made after the vertical posture adjustmentof the light source 14 with respect to the housing 11 using the firstvertical adjusting screw 162 and the vertical posture adjustment of theLiDAR sensor 15 with respect to the housing 11 using the sensor actuator27 are completed.

Therefore, when the head portion 161 a of the first horizontal adjustingscrew 161 is rotated to adjust the posture of the light source 14 in thehorizontal plane, the first horizontal sensing signal SH1 correspondingto the actuation is output from the horizontal adjusting sensor 281. Thesignal processor 29 inputs a second horizontal actuation signal AH2corresponding to the first horizontal sensing signal SH1 to the sensoractuator 27. The sensor actuator 27 adjusts the posture of the LiDARsensor 15 in the horizontal plane based on the second horizontaladjusting signal AH2.

Similarly, when the head portion 162 a of the first vertical adjustingscrew 162 is rotated to adjust the posture of the light source 14 in thevertical plane, a first vertical sensing signal SV1 corresponding to theactuation is output from the vertical adjusting sensor 282. The signalprocessor 29 inputs a second vertical actuation signal AV2 correspondingto the first vertical sensing signal SV1 to the sensor actuator 27. Thesensor actuator 27 adjusts the posture of the LiDAR sensor 15 in thevertical plane based on the second vertical adjusting signal AV2.

That is, in the right front lighting system 2RF, the adjustment by thesensor actuator 27 is performed based on the adjustment performed by thefirst screw mechanism 16.

According to such a configuration, since the result of the postureadjustment of the light source 14 is reflected in the posture adjustmentof the LiDAR sensor 15, it is possible to reduce the burden of the workfor adjusting the postures of the light source 14 and the LiDAR sensor15 with respect to the vehicle body while securing the degree of freedomin layouts of the light source 14 and the LiDAR sensor 15.

In addition, from the viewpoint of efficiently obtaining informationaround the vehicle and from the viewpoint of design, it is desired toinclude a sensor for obtaining information outside the vehicle in alighting system disposed at four corners of the vehicle. According tosuch a configuration, since the posture adjustment of the light source14 and the posture adjustment of the LiDAR sensor 15 can be associatedwith each other, the light source 14 and the LiDAR sensor 15 can beintegrated in the right front lighting system 2RF. That is, it ispossible to satisfy the above-mentioned demand.

The posture of the LiDAR sensor 15 is adjusted by the sensor actuator 27coupled to the LiDAR sensor 15. According to such a configuration, forexample, the posture of the LiDAR sensor 15 can be adjusted by using anactuator used to change the sensing range of the LiDAR sensor 15 in thehorizontal plane and the sensing range in the vertical plane. In thisinstance, the posture adjustment corresponds to adjusting the sensingreference position of the LiDAR sensor 15. Therefore, as for the LiDARsensor 15, a separate adjustment mechanism such as the second screwmechanism 17 in the first embodiment can be omitted.

In the present embodiment, the second horizontal actuation signal AH2and the second vertical actuation signal AV2 respectively correspondingto the first horizontal sensing signal SH1 and the first verticalsensing signal SV1 are generated by the signal processor 29 and input tothe sensor actuator 27. However, in a case where the first horizontalsensing signal SH1 and the first vertical sensing signal SV1 havespecifications that can be used to control the operation of the sensoractuator 27, the first horizontal sensing signal SH1 and the firstvertical sensing signal SV1 can be directly input to the sensor actuator27 without passing through the signal processor 29.

In the present embodiment, the first horizontal sensing signal SH1 andthe second horizontal actuation signal AH2 are associated in theone-by-one manner. Similarly, the first vertical sensing signal SV1 andthe second vertical actuation signal AV2 are associated in theone-by-one manner. However, the first horizontal sensing signal SH1 maybe associated with both the second horizontal actuation signal AH2 andthe second vertical actuation signal AV2. Similarly, the first verticalsensing signal SV1 may be associated with both the second horizontalactuation signal AH2 and the second vertical actuation signal AV2. Inthis instance, for example, when the posture of the light source 14 inthe horizontal plane is adjusted, both the posture adjustment in thehorizontal plane and the posture adjustment in the vertical plane of theLiDAR sensor 15 on the basis of the above associations are performed.

FIG. 4 schematically shows a configuration of a right front lightingsystem 3RF according to a third embodiment. Although not shown, a leftfront lighting system mounted on the left front corner of the vehicle100 has a configuration symmetrical with the right front lighting system3RF. Components that are the same as or equivalent to those of the rightfront lighting system 1RF according to the first embodiment are assignedwith the same reference numerals, and repetitive descriptions for thosewill be omitted.

The right front lighting system 3RF includes a light source actuator 36,which is an example of the first adjuster. The light source actuator 36is a device for adjusting the posture of the light source 14. At least aportion of the light source actuator 36 is disposed in the lamp chamber13 and is coupled to the light source 14.

The light source actuator 36 is configured to change the posture of thelight source 14 in a horizontal plane (in a plane including thefront-rear direction and the left-right direction in the drawing) and ina vertical plane (in a plane including the front-rear direction and theup-down direction in the drawing). Since the structure of such anactuator itself is well known, detailed descriptions thereof will beomitted.

The right front lighting system 3RF includes a horizontal adjustingsensor 381. The horizontal adjusting sensor 381 is configured to outputa second horizontal sensing signal SH2 corresponding to the actuation ofthe second horizontal adjusting screw 171 in the second screw mechanism17. The second horizontal sensing signal SH2 may indicate a change inthe rotational angular position of the second horizontal adjusting screw171, or may indicate the rotation amount of the second horizontaladjusting screw 171. Alternatively, the second horizontal sensing signalSH2 may indicate the posture or position in the horizontal direction ofthe LiDAR sensor 15, or may indicate the amount of change in the postureor position in the horizontal direction of the LiDAR sensor 15.

The right front lighting system 3RF includes a vertical adjusting sensor382. The vertical adjusting sensor 382 is configured to output a secondvertical sensing signal SV2 corresponding to the actuation of the secondvertical adjusting screw 172 in the second screw mechanism 17. Thesecond vertical sensing signal SV2 may indicate a change in therotational angular position of the second vertical adjusting screw 172,or may indicate the rotation amount of the second vertical adjustingscrew 172. Alternatively, the second vertical sensing signal SV2 mayindicate the posture or position in the vertical direction of the LiDARsensor 15, or may indicate the amount of change in the posture orposition in the vertical direction of the LiDAR sensor 15.

The right front lighting system 3RF includes a signal processor 39. Thesignal processor 39 may be realized as a function of an electroniccontrol unit (ECU) mounted on the vehicle 100, or may be realized as afunction of a control device (controller) disposed in the lamp chamber13.

The signal processor 39 generates a first horizontal actuation signalAH1 based on the second horizontal sensing signal SH2 output from thehorizontal adjusting sensor 381, and inputs the same to the light sourceactuator 36. The first horizontal actuation signal AH1 has an attribute(voltage value, current value, frequency, etc.) corresponding to theadjusted amount of the posture of the light source 14 in the horizontalplane determined based on the adjusted amount of the posture of theLiDAR sensor 15 in the horizontal plane sensed by the horizontaladjusting sensor 381.

The generation and output of the first horizontal actuation signal AH1by the signal processor 39 are made after the horizontal postureadjustment of the light source 14 with respect to the housing 11 usingthe light source actuator 36 and the horizontal posture adjustment ofthe LiDAR sensor 15 with respect to the housing 11 using the secondhorizontal adjusting screw 171 are completed.

The signal processor 39 generates a first vertical actuation signal AV1based on the second vertical sensing signal SV2 output from the verticaladjusting sensor 382, and inputs the same to the light source actuator36. The first vertical adjusting signal AV1 have an attribute (voltages,currents, frequencies, etc.) corresponding to the adjusted amount of theposture of the light source 14 in the vertical plane, which isdetermined based on the adjusted amount of the posture of the LiDARsensor 15 in the vertical plane sensed by the vertical adjusting sensor382.

The generation and output of the first vertical actuation signal AV1 bythe signal processor 39 are made after the vertical posture adjustmentof the light source 14 with respect to the housing 11 using the lightsource actuator 36 and the vertical posture adjustment of the LiDARsensor 15 with respect to the housing 11 using the second verticaladjusting screw 172 are completed.

Therefore, when the head portion 171 a of the second horizontaladjusting screw 171 is rotated in order to adjust the posture of theLiDAR sensor 15 in the horizontal plane, the second horizontal sensingsignal SH2 corresponding to the rotational actuation is output from thehorizontal adjusting sensor 381. The signal processor 39 inputs thefirst horizontal actuation signal AH1 corresponding to the secondhorizontal sensing signal SH2 to the light source actuator 36. The lightsource actuator 36 adjusts the posture of the light source 14 in thehorizontal plane based on the first horizontal actuation signal AH1.

On the other hand, when the head portion 172 a of the second verticaladjusting screw 172 is rotated to adjust the posture of the LiDAR sensor15 in the vertical plane, the second vertical sensing signal SV2corresponding to the rotational actuation is output from the verticaladjusting sensor 382. The signal processor 39 inputs the first verticalactuation signal AV1 corresponding to the second vertical sensing signalSV2 to the light source actuator 36. The light source actuator 36adjusts the posture of the light source 14 in the vertical plane basedon the first vertical actuation signal AV1.

That is, in the right front lighting system 3RF, the adjustment by thelight source actuator 36 is performed based on the adjustment performedby the second screw mechanism 17.

According to such a configuration, since the result of the postureadjustment of the LiDAR sensor 15 is reflected in the posture adjustmentof the light source 14, it is possible to reduce the burden of the workfor adjusting the postures of the light source 14 and the LiDAR sensor15 with respect to the vehicle body while securing the degree of freedomin layouts of the light source 14 and the LiDAR sensor 15.

In addition, from the viewpoint of efficiently obtaining informationaround the vehicle and from the viewpoint of design, it is desired toinclude a sensor for obtaining information outside the vehicle in alighting system disposed at four corners of the vehicle. According tosuch a configuration, since the posture adjustment of the light source14 and the posture adjustment of the LiDAR sensor 15 can be associatedwith each other, the light source 14 and the LiDAR sensor 15 can beintegrated in the right front lighting system 3RF. That is, it ispossible to satisfy the above-mentioned demand.

The posture of the light source 14 is adjusted by the light sourceactuator 36 coupled to the light source 14. According to such aconfiguration, for example, the posture of the light source 14 can beadjusted by using an actuator used to change the lighting range of thelight source 14 in the horizontal plane and the vertical plane. In thiscase, the posture adjustment corresponds to adjusting the referenceposition in the light emitting direction of the light source 14.Therefore, as for the light source 14, a separate adjustment mechanismsuch as the first screw mechanism 16 in the first embodiment can beomitted.

In the present embodiment, the first horizontal actuation signal AH1 andthe first vertical actuation signal AV1 corresponding to the secondhorizontal sensing signal SH2 and the second vertical sensing signal SV2are generated by the signal processor 39 and input to the light sourceactuator 36. However, in a case where the second horizontal sensingsignal SH2 and the second vertical sensing signal SV2 havespecifications that can be used to control the actuation of the lightsource actuator 36, the second horizontal sensing signal SH2 and thesecond vertical sensing signal SV2 can be directly input to the lightsource actuator 36 without passing through the signal processor 39.

In the present embodiment, the second horizontal sensing signal SH2 andthe first horizontal actuation signal AH1 are associated in theone-by-one manner. Similarly, the second vertical sensing signal SV2 andthe first vertical actuation signal AV1 are associated in the one-by-onemanner. However, the second horizontal sensing signal SH2 may beassociated with both the first horizontal actuation signal AH1 and thefirst vertical actuation signal AV1. Similarly, the second verticalsensing signal SV2 may be associated with both the first horizontalactuation signal AH1 and the first vertical actuation signal AV1. Forexample, when the posture adjustment in the horizontal plane of theLiDAR sensor 15 is performed, both the posture adjustment in thehorizontal plane and the posture adjustment in the vertical plane of thelight source 14 on the basis of the above associations are performed.

FIG. 5 schematically shows a configuration of a right front lightingsystem 4RF according to a fourth embodiment. Although not shown, a leftfront lighting system mounted on the left front corner of the vehicle100 has a configuration symmetrical with the right front lighting system4RF. Components that are the same as or equivalent to those of the rightfront lighting system 2RF according to the second embodiment and theright front lighting system 3RF according to the third embodiment areassigned with the same reference numerals, and repetitive descriptionsfor those will be omitted.

The right front lighting system 4RF includes a signal processor 49. Thesignal processor 49 may be realized as a function of an electroniccontrol unit (ECU) mounted on the vehicle 100, or may be realized as afunction of a control device (controller) disposed in the lamp chamber13.

The signal processor 49 is configured to generate a first horizontalactuation signal AH1 and a first vertical actuation signal AV1 based ona user input signal U, and input the same to the light source actuator36 (one example of a first actuator). The first horizontal actuationsignal AH1 has an attribute (voltage value, current value, frequency,etc.) corresponding to the adjusted amount of the posture of the lightsource 14 in the horizontal plane. The first vertical actuation signalAV1 has an attribute (voltage value, current value, frequency, etc.)corresponding to the adjusted amount of the posture of the light source14 in the vertical plane.

The generation and output of the first horizontal actuation signal AH1and the first vertical actuation signal AV1 by the signal processor 49are made after the posture adjustments of the light source 14 in thehorizontal and vertical directions with respect to the housing 11 usingthe light source actuator 36 is completed.

On the other hand, the signal processor 49 is configured to generate asecond horizontal actuation signal AH2 and a second vertical actuationsignal AV2 based on the user input signal U, and input the same to thesensor actuator 27 (one example of a second actuator). The firsthorizontal actuation signal AH2 has an attribute (voltage value, currentvalue, frequency, etc.) corresponding to the adjusted amount of theposture of the LiDAR sensor 15 in the horizontal plane. The secondvertical actuation signal AV2 have an attribute (voltage value, currentvalue, frequency, etc.) corresponding to the adjusted amount of theposture of the LiDAR sensor 15 in the vertical plane.

The generation and output of the second horizontal actuation signal AH2and the second vertical actuation signal AV2 by the signal processor 49are made after the posture adjustments of the LiDAR sensor 15 in thehorizontal and vertical directions with respect to the housing 11 usingthe sensor actuator 27 is completed.

In the signal processor 49, the first horizontal actuation signal AH1and the second horizontal actuation signal AH2 are associated with eachother based on a predetermined relationship. Similarly, the firstvertical actuation signal AV1 and the second vertical actuation signalAV2 are associated with each other based on a predeterminedrelationship.

When the first horizontal actuation signal AH1 is output to the lightsource actuator 36 in order to adjust the posture of the light source 14in the horizontal plane, the second horizontal actuation signal AH2based on the predetermined relationship is output to the sensor actuator27. Conversely, when the second horizontal actuation signal AH2 isoutput to the sensor actuator 27, the first horizontal actuation signalAH1 based on the predetermined relationship is output to the lightsource actuator 36. The light source actuator 36 adjusts the posture ofthe light source 14 in the horizontal plane based on the firsthorizontal actuation signal AH1. The sensor actuator 27 adjusts theposture of the LiDAR sensor 15 in the horizontal plane based on thesecond horizontal adjusting signal AH2.

Similarly, when the first vertical actuation signal AV1 is output to thelight source actuator 36 in order to adjust the posture of the lightsource 14 in the vertical plane, the second vertical actuation signalAV2 based on the predetermined relationship is output to the sensoractuator 27. Conversely, when the second vertical actuation signal AV2is output to the sensor actuator 27, the first vertical actuation signalAV1 based on the predetermined relationship is output to the lightsource actuator 36. The light source actuator 36 adjusts the posture ofthe light source 14 in the vertical plane based on the first verticalactuation signal AV1. The sensor actuator 27 adjusts the posture of theLiDAR sensor 15 in the vertical plane based on the second verticaladjusting signal AV2.

That is, a signal corresponding to the adjustment by one of the lightsource actuator 36 and the sensor actuator 27 is input to the other ofthe light source actuator 36 and the sensor actuator 27. In other words,the adjustment by one of the light source actuator 36 and the sensoractuator 27 is performed based on the adjustment performed by the otherof the light source actuator 36 and the sensor actuator 27.

According to such a configuration, since the result of the postureadjustment of one of the light source 14 and the LiDAR sensor 15 isreflected in the posture adjustment of the other, it is possible toreduce the burden of the work for adjusting the postures of the lightsource 14 and the LiDAR sensor 15 with respect to the vehicle body whilesecuring the degree of freedom in layouts of the light source 14 and theLiDAR sensor 15.

In addition, from the viewpoint of efficiently obtaining informationaround the vehicle and from the viewpoint of design, it is desired toinclude a sensor for obtaining information outside the vehicle in alighting system disposed at four corners of the vehicle. According tosuch a configuration, since the posture adjustment of the light source14 and the posture adjustment of the LiDAR sensor 15 can be associatedwith each other, the light source 14 and the LiDAR sensor 15 can beintegrated in the right front lighting system 4RF. That is, it ispossible to satisfy the above-mentioned demand.

The posture of the light source 14 is adjusted by the light sourceactuator 36 coupled to the light source 14. According to such aconfiguration, for example, the posture of the light source 14 can beadjusted by using an actuator used to change the lighting range of thelight source 14 in the horizontal plane and the vertical plane. In thiscase, the posture adjustment corresponds to adjusting the lightingreference position of the light source 14. Therefore, as for the lightsource 14, a separate adjustment mechanism such as the first screwmechanism 16 in the first embodiment can be omitted.

The posture of the LiDAR sensor 15 is adjusted by the sensor actuator 27coupled to the LiDAR sensor 15. According to such a configuration, forexample, the posture of the LiDAR sensor 15 can be adjusted by using anactuator used to change the sensing range of the LiDAR sensor 15 in thehorizontal plane and the sensing range in the vertical plane. In thisinstance, the posture adjustment corresponds to adjusting the sensingreference position of the LiDAR sensor 15. Therefore, as for the LiDARsensor 15, a separate adjustment mechanism such as the second screwmechanism 17 in the first embodiment can be omitted.

In the present embodiment, the first horizontal actuation signal AH1 andthe second horizontal actuation signal AH2 are associated in theone-by-one manner. Similarly, the first vertical actuation signal AV1and the second vertical actuation signal AV2 are associated in theone-by-one manner. However, the first horizontal actuation signal AH1may be associated with both the second horizontal actuation signal AH2and the second vertical actuation signal AV2. Similarly, the firstvertical actuation signal AV1 may be associated with both the secondhorizontal actuation signal AH2 and the second vertical actuation signalAV2. In this instance, for example, when the posture of the light source14 in the horizontal plane is adjusted, both the posture adjustment inthe horizontal plane and the posture adjustment in the vertical plane ofthe LiDAR sensor 15 on the basis of the above associations areperformed.

Conversely, the second horizontal actuation signal AH2 may be associatedwith both the first horizontal actuation signal AH1 and the firstvertical actuation signal AV1. Similarly, the second vertical actuationsignal AV2 may be associated with both the first horizontal actuationsignal AH1 and the first vertical actuation signal AV1.

FIG. 6 schematically shows a configuration of a right front lightingsystem 5RF according to a fifth embodiment. Although not shown, a leftfront lighting system mounted on the left front corner of the vehicle100 has a configuration symmetrical with the right front lighting system5RF. Components that are the same as or equivalent to those of the rightfront lighting system 4RF according to the fourth embodiment areassigned with the same reference numerals, and repetitive descriptionsfor those will be omitted.

The right front lighting system 5RF includes a light source 54. Thelight source 54 includes a plurality of light emitting elements 54 atwo-dimensionally arranged in addition to an optical system including atleast one of a lens and a reflector. Examples of the light emittingelement include a light emitting diode, a laser diode, and an organic ELelement. Each of the light emitting elements 54 a can be turned on andoff individually, and a predetermined area is lighted by light emittedfrom the turned-on light emitting element 54 a.

In the present embodiment, at least one of the lighting referenceposition and the lighting range can be moved in at least one of theup-down direction and the left-right direction by appropriately changingthe light emitting element 54 a to be turned on and the light emittingelement 54 a to be turned off. It should be noted that the “up-downdirection” used herein does not necessarily have to coincide with thevertical direction or the up-down direction of the vehicle 100.Similarly, the “left-right direction” used herein does not necessarilyhave to coincide with the horizontal direction or the left-rightdirection of the vehicle 100.

The light emitted from the light source may be deflected in a desireddirection and at least one of the lighting reference position and thelighting range may be moved in at least one of the up-down direction andthe left-right direction by using a MEMS mechanism or a scan mechanisminstead of the above-described configuration.

The right front lighting system 5RF includes a signal processor 59. Thesignal processor 59 may be realized as a function of an electroniccontrol unit (ECU) mounted on the vehicle 100, or may be realized as afunction of a control device (controller) disposed in the lamp chamber13.

The signal processor 59 is configured to generate an adjustment signal Abased on the user input signal U and input the same to the light source54. The adjustment signal A includes information for adjusting thelighting reference position of the light source 54 in at least one ofthe up-down direction and the left-right direction. More concretely, itcontains information for determining the light emitting elements 54 a tobe turned on and the light emitting elements 54 a to be turned off, sothat the lighting reference position moves at least one of the up-downdirection and the left-right direction.

The generation and output of the adjustment signal A by the signalprocessor 59 are made after the adjustment of the lighting referenceposition of the light source 54 with respect to the housing 11 iscompleted.

On the other hand, the signal processor 59 is configured to generate asecond horizontal actuation signal AH2 and a second vertical actuationsignal AV2 based on the user input signal U, and input the same to thesensor actuator 27. The first horizontal actuation signal AH2 has anattribute (voltage value, current value, frequency, etc.) correspondingto the adjusted amount of the posture of the LiDAR sensor 15 in thehorizontal plane. The second vertical actuation signal AV2 have anattribute (voltage value, current value, frequency, etc.) correspondingto the adjusted amount of the posture of the LiDAR sensor 15 in thevertical plane.

The generation and output of the second horizontal actuation signal AH2and the second vertical actuation signal AV2 by the signal processor 59are made after the horizontal and vertical posture adjustments of theLiDAR sensor 15 with respect to the housing 11 using the sensor actuator27 is completed.

In the signal processor 59, the adjustment signal A is associated withthe second horizontal actuation signal AH2 and the second verticalactuation signal AV2 based on a predetermined relationship.

When the adjustment signal A is output to the light source 54 to adjustthe lighting reference position of the light source 54, at least one ofthe second horizontal actuation signal AH2 and the second verticalactuation signal AV2 based on the predetermined relationship is outputto the sensor actuator 27. Conversely, when the second horizontalactuation signal AH2 and the second vertical actuation signal AV2 areoutput to the sensor actuator 27, the adjustment signal A based on thepredetermined relationship is output to the light source 54. Thelighting reference position of the light source 54 is adjusted based onthe adjustment signal A. The sensor actuator 27 adjusts at least one ofthe posture in the horizontal plane and the posture in the verticalplane of the LiDAR sensor 15 based on at least one of the secondhorizontal actuation signal AH2 and the second vertical actuation signalAV2. For example, the sensor actuator 27 adjusts the sensing referenceposition of the LiDAR sensor 15.

That is, the adjustment of one of the lighting reference position of thelight source 54 and the sensing reference position of the LiDAR sensor15 is performed based on the adjustment performed on the other of thelighting reference position of the light source 54 and the sensingreference position of the LiDAR sensor 15.

According to such a configuration, since the result of adjusting one ofthe lighting reference position of the light source 54 and the sensingreference position of the LiDAR sensor 15 is reflected in the otherreference position adjustment, it is possible to reduce the burden ofthe work for adjusting the lighting reference position of the lightsource 54 and the sensing reference position of the LiDAR sensor 15while securing the degree of freedom in layouts of the light source 54and the LiDAR sensor 15.

In addition, from the viewpoint of efficiently obtaining informationaround the vehicle and from the viewpoint of design, it is desired toinclude a sensor for obtaining information outside the vehicle in alighting system disposed at four corners of the vehicle. According tosuch a configuration, since the lighting reference position adjustmentof the light source 54 and the sensing reference position adjustment ofthe LiDAR sensor 15 can be associated with each other, the light source54 and the LiDAR sensor 15 can be integrated in the right front lightingsystem 5RF. That is, it is possible to satisfy the above-mentioneddemand.

In addition, since the lighting reference position of the light source54 is adjusted without using a mechanical component, it is easy tosuppress an increase in size of the structure. This facilitates theintegration of the light source 54 and the LiDAR sensor 15 into theright front lighting system 5RF.

In the present embodiment, the light source 54 is arranged to light atleast ahead of the vehicle 100 (an example of the front-rear directionof the vehicle), and the LiDAR sensor 15 is arranged to obtaininformation of at least on the right of the vehicle 100 (an example ofthe left-right direction of the vehicle).

In order to obtain information as to the right side of the vehicle 100,it is preferable that the LiDAR sensor 15 is disposed at a positionfacing the right side of the vehicle body of the vehicle 100. In such alayout, there would be a case where the adjustment of the sensingreference position of the LiDAR sensor 15 is difficult due to structuralreasons of the vehicle body. However, according to the aboveconfiguration, since the result of adjusting the lighting referenceposition of the light source 54 is reflected in the adjustment of thesensing reference position of the LiDAR sensor 15, the above-mentioneddifficulty can be avoided.

With the configuration of the light source 54 described with referenceto this embodiment, the light source 14 of the right front lightingsystem 3RF according to the third embodiment described with reference toFIG. 4 can be replaced.

FIG. 7 schematically shows a configuration of a right front lightingsystem 6RF according to a sixth embodiment. Although not shown, a leftfront lighting system mounted on the left front corner of the vehicle100 has a configuration symmetrical with the right front lighting system6RF. Components that are the same as or equivalent to those of the rightfront lighting system 2RF according to the second embodiment areassigned with the same reference numerals, and repetitive descriptionsfor those will be omitted.

The right front lighting system 6RF includes a signal processor 69,which is an example of a corrector. The signal processor 69 may berealized as a function of an electronic control unit (ECU) mounted onthe vehicle 100, or may be realized as a function of a control device(controller) disposed in the lamp chamber 13.

After the lighting reference position of the light source 14 withrespect to the housing 11 is adjusted using the first horizontaladjusting screw 161 and the first vertical adjusting screw 162, thesignal processor 69 is configured to obtain information as to thelighting reference position of the light source 14 with respect to thevehicle body based on the first horizontal sensing signal SH1 outputfrom the horizontal adjusting sensor 281 and the first vertical sensingsignal SV1 output from the vertical adjusting sensor 282. Specifically,the posture of the light source 14 with respect to the vehicle body canbe recognized based on the first horizontal sensing signal SH1 and thefirst vertical sensing signal SV1. Based on this posture, the currentlighting reference position or the amount of movement from the initiallighting reference position can be recognized.

As described above, the LiDAR sensor 15 outputs a sensing signal Scorresponding to an attribute of the sensed returned light (intensity,wavelength or the like). The signal processor 69 is configured toreceive the sensing signal S, and to correct information obtained fromthe signal based on information as to the lighting reference position ofthe light source 14 with respect to the vehicle body. The correction maybe performed on the sensing signal S itself, or may be performed onanother signal or data corresponding to the sensing signal S.

In the present embodiment, there is no mechanism for adjusting theposture of the LiDAR sensor 15, i.e., the sensing reference position.Therefore, when the lighting reference position of the light source 14is changed, the sensing reference position of the LiDAR sensor 15 is notchanged so as to correspond to the change, but the information obtainedfrom the LiDAR sensor 15 is corrected. Specifically, the informationobtained from the LiDAR sensor 15 is corrected to information that wouldhave been obtained if the sensing reference position of the LiDAR sensor15 was changed so as to correspond to the change of the lightingreference position of the light source 14. As a result, it is possibleto obtain substantially the same information as the information obtainedwhen the sensing reference position of the LiDAR sensor 15 is changed soas to correspond to the change of the lighting reference position of thelight source 14.

The signal processor 69 stores in advance a table indicating acorrespondence between the change of the lighting reference position ofthe light source 14 (including the change direction and the changeamount as information) and the correction to be performed with respectto the information obtained from the LiDAR sensor 15. The signalprocessor 69 executes the above-described correction processing whilereferring to the table.

According to such a configuration, since the configuration for adjustingthe sensing reference position of the LiDAR sensor 15 can be omitted, itis possible to reduce the burden of the work for adjusting the lightingreference position of the light source 14 and the sensing referenceposition of the LiDAR sensor 15 while securing the degree of freedom inlayouts of the light source 14 and the LiDAR sensor 15.

In addition, from the viewpoint of efficiently obtaining informationaround the vehicle and from the viewpoint of design, it is desired toinclude a sensor for obtaining information outside the vehicle in alighting system disposed at four corners of the vehicle. According tosuch a configuration, since the posture adjustment of the light source14 and the posture adjustment of the LiDAR sensor 15 can be associatedwith each other, the light source 14 and the LiDAR sensor 15 can beintegrated in the right front lighting system 6RF. That is, it ispossible to satisfy the above-mentioned demand.

In addition, since the configuration for adjusting the sensing referenceposition of the LiDAR sensor 15 can be omitted, it is easy to suppressan increase in size of the structure. This facilitates the integrationof the light source 14 and the LiDAR sensor 15 into the right frontlighting system 6RF.

FIG. 8 schematically shows a right front lighting system 6RF1 accordingto a first modified example of the sixth embodiment. Although not shown,a left front lighting system mounted on the left front corner of thevehicle 100 has a configuration symmetrical with the right frontlighting system 6RF1. Components that are the same as or equivalent tothose of the right front lighting system 4RF according to the fourthembodiment and the right front lighting system 6RF according to thesixth embodiment are assigned with the same reference numerals, andrepetitive descriptions for those will be omitted.

The right front lighting system 6RF1 includes a signal processor 691,which is an example of a corrector. After the lighting referenceposition of light source 14 with respect to the housing 11 is adjustedby using the light source actuator 36, the signal processor 691generates the first horizontal actuation signal AH1 and the firstvertical actuation signal AV1 based on user input signal U, and inputthe same to the light source actuator 36. The signal processor 691 isconfigured to obtain information as to the lighting reference positionof the light source 14 with respect to the vehicle body based on theuser input signal U or the first horizontal actuation signal AH1 and thefirst vertical actuation signal AV1.

The signal processor 691 is configured to receive the sensing signal Soutput from the LiDAR sensor 15, and to correct the information obtainedfrom the sensing signal S based on the information as to the lightingreference position of the light source 14 with respect to the vehiclebody. The correction may be performed on the sensing signal S itself, ormay be performed on another signal or data corresponding to the sensingsignal S.

FIG. 9 schematically shows a right front lighting system 6RF2 accordingto a second modified example of the sixth embodiment. Although notshown, a left front lighting system mounted on the left front corner ofthe vehicle 100 has a configuration symmetrical with the right frontlighting system 6RF2. Components that are the same as or equivalent tothose of the right front lighting system 5RF according to the fifthembodiment and the right front lighting system 6RF according to thesixth embodiment are assigned with the same reference numerals, andrepetitive descriptions for those will be omitted.

The right front lighting system 6RF2 includes a signal processor 692,which is an example of a corrector. After the lighting referenceposition of the light source 54 with respect to the housing 11 isadjusted, the signal processor 692 generates an adjustment signal Abased on the user input signal U and input the same to the light source54. The signal processor 692 is configured to obtain information as tothe lighting reference position of the light source 54 with respect tothe vehicle body based on the user input signal U or the adjustmentsignal A.

The signal processor 692 is configured to receive the sensing signal Soutput from the LiDAR sensor 15, and to correct the information obtainedfrom the sensing signal S based on the information as to the lightingreference position of the light source 54 with respect to the vehiclebody. The correction may be performed on the sensing signal S itself, ormay be performed on another signal or data corresponding to the sensingsignal S.

The light source 14 shown in FIGS. 2-5, 7, and 8 is configured to becapable of forming a pattern P shown in FIG. 10 on a wall positionedahead thereof.

A symbol C represents the center of the pattern P. The symbol UD1represents a dimension from the center C to an upper end of the patternP. The symbol UD2 represents a dimension from the center to a lower endof the pattern P. The dimensions UD1 and UD2 are equal. The symbol LR1represents a dimension from the center to a left end of the pattern P.The symbol LR2 represents a dimension from the center to a right end ofthe pattern P. The dimension LR1 is equal to the dimension LR2. Thepattern P has a straight portion PUD extending in the up-down directionand a straight portion PLR extending in the left-right direction.

Such a pattern P can be formed, for example, by passing light emittedfrom a lamp light source or a light emitting element through a shade.

Such a pattern P can also be formed by the light source 54 shown inFIGS. 6 and 9. Specifically, the pattern P can be formed byappropriately turning on and off each of the plurality of light emittingelements 54 a arranged two-dimensionally.

The pattern P is used to obtain information as to the posture of thelight source 14 with respect to the vehicle body or the lightingreference position of the light source 54 after the light source 14 orthe lighting system including the light source 54 is mounted on thevehicle body.

As shown in FIG. 11, a vertical axis V and a horizontal axis H aredisplayed on a wall surface disposed in front of the light source 14 orthe light source 54. A symbol O represents the intersection of thevertical axis V and the horizontal axis H. When the lighting systemcomprising the light source 14 or the light source 54 is mounted in apredetermined position on the vehicle body, the intersection O coincideswith the center C of the pattern P. When the lighting system is mountedin a predetermined posture with respect to the vehicle body, thestraight portion PUD of the pattern P extends parallel to the verticalaxis V, and the straight portion PLR of the pattern P extends parallelto the horizontal axis H.

In an example shown in FIG. 11, the center C of the pattern P isdeviated upward by ΔUD and rightward by ΔLR from the intersection O.This phenomenon means that the mounting position of the lighting systemis deviated upward by ΔUD and rightward by ΔLR from the predeterminedposition.

In an example shown in FIG. 12, since the center C and the intersectionO of the pattern P coincide with each other, the dimensions UD1 and UD2shall be equal to each other. However, the dimensions UD1 and UD2 areactually different from each other. This phenomenon means that themounting posture of the lighting system is inclined in the up-downdirection of from a predetermined posture (inclined in a plane extendingin the front-rear direction and the up-down direction of the vehicle).When the dimension UD1 is larger, the lighting system is tilted upwardfrom the predetermined posture. When the dimension UD2 is larger, thelighting system is tilted downward from the predetermined posture.

In the example shown in FIG. 12, the dimensions LR1 and LR2 aredifferent from each other. This phenomenon means that the mountingposture of the lighting system is inclined in the left-right directionof the vehicle from a predetermined posture (inclined in a planeextending in the front-rear direction and the left-right direction ofthe vehicle). When the dimension LR1 is larger, the lighting system istilted leftward from the predetermined posture. When the dimension LR2is larger, the lighting system is tilted rightward from thepredetermined posture.

That is, the example shown in FIG. 12 means that the mounting posture ofthe lighting system is inclined upward and rightward from thepredetermined posture.

In an example shown in FIG. 13, although the center C and theintersection O of the pattern P coincide with each other, the straightline portion PUD and the straight line portion PLR are inclined by anangle θ from the vertical axis V and the horizontal axis H,respectively. This phenomenon means that the mounting posture of thelighting system is inclined by the angle θ in a plane extending in theup-down direction and the left-right direction of the vehicle from apredetermined posture.

Actually, the phenomena shown in FIG. 11 to FIG. 13 appear in a complexmanner, and it is obtained the information as to the deviation of themounting position of the lighting system from the predetermined positionand the inclination of the mounting posture from the predeterminedposture described with reference to each drawing. Based on thisinformation, an adjustment operation is performed so as to minimize thedeviation and the inclination.

In the right front lighting system 1RF according to the firstembodiment, the posture of the light source 14 is adjusted by actuatingthe first screw mechanism 16. The result of the adjustment is reflectedin the posture adjustment of the LiDAR sensor 15 through the secondscrew mechanism 17. The posture of the LiDAR sensor 15 may be adjustedthrough actuation of the second screw mechanism 17 so that a desiredadjustment is made for the light source 14.

In the right front lighting system 2RF according to the secondembodiment, the posture of the light source 14 is adjusted by actuatingthe first screw mechanism 16. The adjustment result is reflected on theposture adjustment of the LiDAR sensor 15 through the sensor actuator27.

In the right front lighting system 3RF according to the thirdembodiment, the posture of the LiDAR sensor 15 is adjusted by actuatingthe second screw mechanism 17. The adjustment result is reflected on theposture adjustment of the light source 14 through the light sourceactuator 36.

In the right front lighting system 4RF according to the fourthembodiment, the user input signal U is input to the signal processor 49so that a desired adjustment is made for the light source 14. Based onthe user input signal U, the posture of the light source 14 is adjustedby the light source actuator 36 and the posture of the LiDAR sensor 15is adjusted by the sensor actuator 27.

In the right front lighting system 5RF according to the fifthembodiment, the user input signal U is input to the signal processor 59so that a desired adjustment is made for the light source 54. Theadjustment of the lighting reference position of the light source 54 andthe adjustment of the sensing reference position of the LiDAR sensor 15by the sensor actuator 27 are performed based on the user-input signalU.

In the right front lighting system 6RF according to the sixthembodiment, the posture of the light source 14 is adjusted by actuatingthe first screw mechanism 16. The adjustment result is reflected in thecorrection performed by the signal processor 69 with respect to thesensing signal S output from the LiDAR sensor 15.

In the right front lighting system 6RF1 according to the first modifiedexample of the sixth embodiment, the user input signal U is input to thesignal processor 691 so that a desired adjustment is made for the lightsource 14. The user-input signal U is reflected in the correctionperformed by the signal processor 691 on the sensing signal S outputfrom the LiDAR sensor 15.

In the right front lighting system 6RF2 according to the second modifiedexample of the sixth embodiment, the user input signal U is input to thesignal processor 692 so that a desired adjustment is made for the lightsource 54. The user-input signal U is reflected in the correctionperformed by the signal processor 692 on the sensing signal S outputfrom the LiDAR sensor 15.

The shape of the pattern P formed by the light source 14 or the lightsource 54 is not limited to the above example. As long as the center C,the dimension UD1, the dimension UD2, the dimension LR1, the dimensionLR2, and the inclination 8 of the pattern P can be specified, anappropriate shape can be adopted.

The above-described embodiments are merely examples for facilitatingunderstanding of the gist of the presently disclosed subject matter. Theconfiguration according to each of the above embodiments can beappropriately modified or improved without departing from the gist ofthe presently disclosed subject matter.

In the first embodiment to the sixth embodiment, the light source 14(54) and the LiDAR sensor 15 are housed in the common housing 11. Theadvantages explained by referring to each of the above embodiments canbe more remarkable when an attempt is made to locate the light source 14(54) and the LiDAR sensor 15 in the lamp chamber 13 with a limitedspace.

In addition, by accommodating the light source 14 (54) and the LiDARsensor 15 in a common housing 11, the relative position changes betweenthem can be minimized. Accordingly, the association between the lightingreference position of the light source 14 (54) and the sensing referenceposition of the LiDAR sensor 15 can be enhanced.

However, the light source 14 (54) and the LiDAR sensor 15 may be housedin separate housings. Alternatively, the LiDAR sensor 15 may be mountedon the exterior of a housing accommodating the light source 14 (54).

In the first to sixth embodiments, the light source 14 (54) is arrangedto light at least ahead of the vehicle 100 (an example of the front-reardirection of the vehicle), and the LiDAR sensor 15 is arranged to obtaininformation of at least on the right of the vehicle 100 (an example ofthe left-right direction of the vehicle). However, the LiDAR sensor 15may be arranged so as to obtain information of at least ahead of thevehicle 100.

In the first to sixth embodiments, a LiDAR sensor is used as a sensorfor obtaining information as to the outside of the vehicle 100. However,a sensor to be used may be appropriately selected depending on the typeof information to be obtained. As such a sensor, a millimeter wave radarsensor, an ultrasonic sonar, a visible light camera, a non-visible lightcamera or the like can be exemplified.

In the first to sixth embodiments, the left front lighting system andthe right front lighting system are exemplified as the lighting systemincluding the LiDAR sensor 15. However, the configuration described withreference to the right front lighting system is also applicable to aleft rear lighting system 1LB arranged in a left rear corner of thevehicle 100 shown in FIG. 1 and a right rear lighting system 1RBarranged in a right rear corner of the vehicle 100. For example, theright rear lighting system 1RB may have a configuration symmetric withrespect to the right front lighting system relative to the front-reardirection (the light source may be appropriately changed). The left rearlighting system 1LB may have a configuration symmetrical with the rightrear lighting system 1RB relative to the left-right direction.

FIG. 14 schematically shows a configuration of a right front sensorsystem 7RF according to a seventh embodiment. Although not shown, a leftfront sensor system has a configuration symmetrical with the right frontsensor system 7RF. Components that are the same as or equivalent tothose of the right front lighting system 1RF according to the firstembodiment are assigned with the same reference numerals, and repetitivedescriptions for those will be omitted.

The right front sensor system 7RF includes a light source 78. The lightsource 78 includes an optical system including at least one of a lensand a reflector, and emits light that lights a predetermined area. Thelight source 78 is disposed in the lamp chamber 13. As the light source78, a lamp light source or a light emitting element can be used.Examples of a lamp light source include an incandescent lamp, a halogenlamp, a discharge lamp, and a neon lamp. Examples of the light emittingelement include a light emitting diode, a laser diode, and an organic ELelement.

The right front sensor system 7RF includes a LiDAR sensor 74, which isan example of a first sensor. The LiDAR sensor 74 has a configurationfor emitting non-visible light and a configuration for sensing returnedlight as a result of the non-visible light being reflected by an objectexisting outside the vehicle 100. That is, the LiDAR sensor 74 is asensor for sensing information of the outside of the vehicle 100. Asrequired, the LiDAR sensor 74 may include a scan device that sweeps thenon-visible light to change the light emitting direction (i.e., thesensing direction). In the present embodiment, infrared light having awavelength of 905 nm is used as the non-visible light.

The LiDAR sensor 74 can obtain the distance to the object associatedwith the returned light, for example, based on the time period from thetime when the non-visible light is emitted in a certain direction to thetime when the returned light is sensed. Further, by accumulating suchdistance data in association with the sensing position, it is possibleto obtain information as to the shape of the object associated with thereturned light. Additionally or alternatively, information as to anattribute such as the material of the object associated with thereturned light can be obtained based on the difference in wavelengthbetween the emitted light and the returned light. Additionally oralternatively, information about the color of the object, such as awhite line on the road surface, can be obtained, for example, based onthe difference in reflectivity of the returned light from the roadsurface.

The LiDAR sensor 74 outputs a signal corresponding to an attribute(intensity, wavelength or the like) of the sensed returned light. Theabove-mentioned information is obtained by appropriately processingsignal output from the LiDAR sensor 74 by an information processor (notshown). The information processor may be provided in the right frontsensor system 7RF or may be mounted on the vehicle 100.

The right front sensor system 7RF includes a sensor actuator 75, whichis an example of the first adjuster. The sensor actuator 75 is a devicefor adjusting the posture of the LiDAR sensor 74. At least a portion ofthe sensor actuator 75 is disposed in the lamp chamber 13 and is coupledto the LiDAR sensor 74.

The sensor actuator 75 is configured to change the posture of the LiDARsensor 74 in a horizontal plane (in a plane including the front-reardirection and the left-right direction in the drawing) and in a verticalplane (in a plane including the left-right direction and the up-downdirection in the drawing). It should be noted that the “horizontalplane” used herein need not coincide with a strict horizontal plane.Likewise, the “vertical plane” used herein need not coincide with astrict vertical plane. Since the structure of such an actuator itself iswell known, detailed descriptions thereof will be omitted.

The right front sensor system 7RF includes a camera 76, which is anexample of a second sensor. The camera 76 is a device for capturing animage of the outside of the vehicle 100. That is, the camera 76 sensesinformation of the outside of the vehicle 100 in a manner different fromthat of the LiDAR sensor 74.

The camera 76 is configured to output a video signal VS corresponding tothe captured image.

The right front sensor system 7RF includes a signal processor 77. Thesignal processor 77 may be realized as a function of an electroniccontrol unit (ECU) mounted on the vehicle 100, or may be realized as afunction of a control device (controller) disposed in the lamp chamber13.

The signal processor 77 is configured to specify a deviation amount ofan imaging reference position of the camera 76 from a predeterminedposition based on the video signal VS output from the camera 76.

FIG. 15 shows an example of an image captured by the camera 76. A symbolRP represents an imaging reference point of the camera 76. The imagingreference point RP is defined as, for example, the center point of thefield of view of the camera 76. A symbol VP represents a vanishing pointof a so-called straight road, i.e., a point at which parallel lines suchas white lanes appear to merge. It is desirable that the imagingreference point RP coincides with the vanishing point VP.

The signal processor 77 specifies the vanishing point VP in the capturedimage by processing the video signal VS, and specifies the deviationamount of the imaging reference point RP from the specified vanishingpoint VP. In the example shown in FIG. 15, the imaging reference pointRP is deviated upward by Δv and leftward by Δh from the vanishing pointVP. Such a deviation is caused by a positional deviation occurred whenthe camera 76 is mounted on the housing 11, a positional deviationoccurred when the housing 11 is mounted on the vehicle 100, or the like.

The vanishing point VP (an example of a predetermined position) may bereplaced with a reference point displayed on a screen disposed in frontof the camera 76.

The signal processor 77 generates a first horizontal actuation signalAH1 and a first vertical actuation signal AV1 based on the specifieddeviation amount of the imaging reference point RP, and inputs the sameto the sensor actuator 75.

The first horizontal actuation signal AH1 has an attribute (voltagevalue, current value, frequency, etc.) corresponding to the adjustedamount of the posture of the LiDAR sensor 74 in the horizontal plane,which is determined based on the horizontal deviation amount Δh of thespecified imaging reference point RP.

The relationship between the deviation amount Δh and the adjustmentamount of the posture of the LiDAR sensor 74 in the horizontal plane canbe stored in advance in the signal processor 77. For example, thedeviation amount in the horizontal plane of the sensing referenceposition of the LiDAR sensor 74, which may occur when the deviationamount in the horizontal direction of the imaging reference point RP isΔh, can be stored in the signal processor 77 as a function or acorrespondence table. The signal processor 77 generates the firsthorizontal actuation signal AH1 so as to cancel the deviation in thehorizontal plane of the sensing reference position of the LiDAR sensor74 specified on the basis of the relationship.

The first vertical actuation signal AV1 has an attribute (voltage value,current value, frequency, etc.) corresponding to the adjusted amount ofthe posture of the LiDAR sensor 74 in the vertical plane, which isdetermined on the basis of the vertical deviation amount Δv of thespecified imaging reference point RP.

The relation between the deviation amount Δv and the adjustment amountof the posture of the LiDAR sensor 74 in the vertical plane can bestored in advance in the signal processor 77. For example, the deviationamount in the vertical plane of the sensing reference position of theLiDAR sensor 74, which may occur when the deviation amount in thevertical direction of the imaging reference point RP is Δv, can bestored in the signal processor 77 as a function or a correspondencetable. The signal processor 77 generates the first vertical actuationsignal AV1 so as to cancel the deviation in the vertical plane of thesensing reference position of the LiDAR sensor 74 specified on the basisof the relationship.

The output of the first horizontal actuation signal AH1 and the firstvertical actuation signal AV1 by the signal processor 77 are made afterthe horizontal and vertical posture adjustments of the LiDAR sensor 74with respect to the housing 11 using the sensor actuator 75 iscompleted.

That is, the posture adjustment of the LiDAR sensor 74 by the sensoractuator 75 with the aid of the signal processor 77 is performed basedon an image of the outside of the vehicle 100 (an example ofinformation) captured by the camera 76 after the right front sensorsystem 7RF is mounted on the vehicle 100.

According to such a configuration, since the posture of the LiDAR sensor74 is automatically adjusted based on, for example, the positionaldeviation of the right front sensor system 7RF with respect to thevehicle body sensed through the camera 76, it is possible to reduce theburden of the work for adjusting the posture of the LiDAR sensor 74 withrespect to the vehicle body.

The posture of the LiDAR sensor 74 is adjusted by the sensor actuator 75coupled to the LiDAR sensor 74. According to such a configuration, forexample, the posture of the LiDAR sensor 74 can be adjusted by using anactuator used to change the sensing range of the LiDAR sensor 74 in thehorizontal plane and the sensing range in the vertical plane. In thisinstance, the posture adjustment corresponds to adjustment of thesensing reference position of the LiDAR sensor 74. Therefore, a separateadjustment mechanism such as an aiming screw mechanism can be omittedfor the LiDAR sensor 74.

In the above descriptions, the deviation amount Δh and the firsthorizontal actuation signal AH1 are associated in the one-by-one manner.Similarly, the deviation amount Δv and the first vertical actuationsignal AV1 are associated in the one-by-one manner. However, thedeviation amount Δh may be associated with both the first horizontalactuation signal AH1 and the first vertical actuation signal AV1.Similarly, the deviation amount Δv may be associated with both the firsthorizontal actuation signal AH1 and the first vertical actuation signalAV1. In this instance, for example, when the horizontal deviation of theimaging reference point RP of the camera 76 is sensed, both the postureadjustment in the horizontal plane and the posture adjustment in thevertical plane of the LiDAR sensor 74 on the basis of the aboveassociations are performed.

As shown in FIG. 14, the LiDAR sensor 74 and the camera 76 may besupported by a common support member 70. The common support member 70may be a portion of the housing 11, or may be a member such as a bracketindependent of the housing 11.

In this instance, the posture of the camera 76 can be adjusted at thesame time as the posture of the LiDAR sensor 74 is adjusted. That is,the posture of the LiDAR sensor 74 is adjusted based on the imagecaptured by the camera 76, and the image capturing reference point RP ofthe camera 76 can be adjusted through the adjustment. Therefore, in acase where plural kinds of sensors including the LiDAR sensor 74 and thecamera 76 are mounted on the vehicle 100, the burden of the work foradjusting the sensing reference position of each sensor can be reduced.

The right front sensor system 7RF may include a light source actuator79, which is an example of the second adjuster. The light sourceactuator 79 is a device for adjusting the posture of the light source78. At least a portion of the light source actuator 79 may be disposedin the lamp chamber 13.

The light source actuator 79 can be configured to change the posture ofthe light source 78 in a horizontal plane (in a plane including thefront-rear direction and the left-right direction in the drawing) and ina vertical plane (in a plane including the left-right direction and theup-down direction in the drawing). It should be noted that the“horizontal plane” used herein need not coincide with a stricthorizontal plane. Likewise, the “vertical plane” used herein need notcoincide with a strict vertical plane. Since the structure of such anactuator itself is well known, detailed descriptions thereof will beomitted.

In this case, the signal processor 77 generates a second horizontalactuation signal AH2 and a second vertical actuation signal AV2 based onthe specified deviation amount of the imaging reference point RP, andinputs the same to the light source actuator 79.

The second horizontal actuation signal AH2 has an attribute (voltagevalue, current value, frequency, etc.) corresponding to the adjustedamount of the posture of the light source 78 in the horizontal plane,which is determined based on the horizontal deviation amount Δh of thespecified imaging reference point RP.

The relationship between the deviation amount Δh and the adjustmentamount of the posture of the light source 78 in the horizontal plane canbe stored in advance in the signal processor 77. For example, thedeviation amount in the horizontal plane of the lighting referenceposition of the light source 78, which would occur when the deviationamount in the horizontal direction of the imaging reference point RP isΔh, can be stored in the signal processor 77 as a function or acorrespondence table. The signal processor 77 generates the secondhorizontal actuation signal AH2 so as to cancel the deviation amount inthe horizontal plane of the lighting reference position of the lightsource 78 specified based on the relationship.

The second vertical actuation signal AV2 has an attribute (voltagevalue, current value, frequency, etc.) corresponding to the adjustedamount of the posture of the light source 78 in the vertical plane,which is determined based on the deviation amount Δv in the verticaldirection of the specified imaging reference point RP.

The relationship between the deviation amount Δv and the adjustmentamount of the posture of the light source 78 in the vertical plane canbe stored in the signal processor 77 in advance. For example, thedeviation amount in the vertical plane of the lighting referenceposition of the light source 78, which would occur when the deviationamount in the vertical direction of the imaging reference point RP isΔv, can be stored in the signal processor 77 as a function or acorrespondence table. The signal processor 77 generates the secondvertical actuation signal AV2 so as to cancel the deviation amount inthe vertical plane of the lighting reference position of the lightsource 78 specified based on the relationship.

The output of the second horizontal actuation signal AH2 and the secondvertical actuation signal AV2 by the signal processor 77 is made afterthe horizontal and vertical posture adjustment of the light source 78with respect to the housing 11 using the light source actuator 79 iscompleted.

That is, the adjustment of the posture of the light source 78 by thelight source actuator 79 using the signal processor 77 is performedbased on an image of the outside of the vehicle 100 (an example ofinformation) captured by the camera 76 after the right front sensorsystem 7RF is mounted on the vehicle 100.

According to such a configuration, since the posture of the light source78 is automatically adjusted on the basis of, for example, theinformation as to the positional deviation with respect to the vehiclebody sensed through the camera 76, it is possible to reduce the burdenof the work for adjusting the posture of the light source 78 withrespect to the vehicle body.

As described above, the posture of the light source 78 is adjusted bythe light source actuator 79 coupled to the light source 78. Accordingto such a configuration, for example, the posture of the light source 78can be adjusted by using an actuator used to change the lighting rangeof the light source 78 in the horizontal plane and the vertical plane.In this case, the posture adjustment corresponds to adjusting thelighting reference position of the light source 78. Therefore, aseparate adjustment mechanism such as an aiming screw mechanism can beomitted for the light source 78.

From the viewpoint of efficiently obtaining information around thevehicle and from the viewpoint of design, it is desired to dispose asensor for obtaining information of the outside of the vehicle atlocations in the vicinity of lighting devices that are disposed at fourcorners of the vehicle. According to such a configuration, since theposture adjustment of the light source 78 and the posture adjustment ofthe LiDAR sensor 74 can be associated with each other through the camera76, the light source 78 can be integrated into the right front sensorsystem 7RF. That is, it is possible to satisfy the above-mentioneddemand.

In the above descriptions, the deviation amount Δh and the secondhorizontal actuation signal AH2 are associated with each other in theone-by-one manner. Similarly, the deviation amount Δv and the secondvertical actuation signal AV2 are associated with each other in theone-by-one manner. However, the deviation amount Δh may be associatedwith both the second horizontal actuation signal AH2 and the secondvertical actuation signal AV2. Similarly, the deviation amount Δv may beassociated with both the second horizontal actuation signal AH2 and thesecond vertical actuation signal AV2. In this case, for example, whenthe horizontal deviation of the imaging reference point RP of the camera76 is sensed, both the posture adjustment in the horizontal plane andthe posture adjustment in the vertical plane of the light source 78(adjustment of the lighting reference position) on the basis of theabove associations are performed.

In the present embodiment, the LiDAR sensor 74 is disposed so as toobtain information of at least on the right of the vehicle 100.

In order to obtain information as to the right side of the vehicle 100,it is preferable that the LiDAR sensor 74 is disposed at a positionfacing the right side of the vehicle body of the vehicle 100. In such alayout, there would be a case where the adjustment of the posture of theLiDAR sensor 74 is difficult due to structural reasons of the vehiclebody. However, according to the above configuration, since the postureof the LiDAR sensor 74 is automatically adjusted based on the positionaldeviation of the right front sensor system 7RF with respect to thevehicle body sensed through the camera 76, the above-describeddifficulty can be avoided.

FIG. 16 schematically shows a configuration of a right front sensorsystem 8RF according to an eighth embodiment. Although not shown, a leftfront sensor system mounted on the left front corner of the vehicle 100has a configuration symmetrical with the right front sensor system 8RF.Components that are the same as or equivalent to those of the rightfront sensor system 7RF according to the seventh embodiment are assignedwith the same reference numerals, and repetitive descriptions for thosewill be omitted.

The right front sensor system 8RF includes a light source 88. The lightsource 88 includes a plurality of light emitting elements 88 a arrangedtwo-dimensionally in addition to an optical system including at leastone of a lens and a reflector. Examples of the light emitting elementinclude a light emitting diode, a laser diode, and an organic ELelement. Each of the light emitting elements 88 a can be turned on andoff individually, and a predetermined area is lighted by light emittedfrom the turned-on light emitting element 88 a.

In the present embodiment, at least one of the lighting referenceposition and the lighting range can be moved in at least one of theup-down direction and the left-right direction by appropriately changingthe light emitting element 88 a to be turned on and the light emittingelement 88 a to be turned off. It should be noted that the “up-downdirection” used herein does not necessarily have to coincide with thevertical direction or the up-down direction of the vehicle 100.Similarly, the “left-right direction” used herein does not necessarilyhave to coincide with the horizontal direction or the left-rightdirection of the vehicle 100.

In addition to or instead of the above-described configuration, a MEMSmechanism or a scan mechanism may be used to deflect the light emittedfrom the light source in a desired direction to move at least one of thelighting reference position and the lighting range in at least one ofthe up-down direction and the left-right direction.

The right front sensor system 8RF includes a signal processor 87. Thesignal processor 87 may be realized as a function of an electroniccontrol unit (ECU) mounted on the vehicle 100, or may be realized as afunction of a control device (controller) disposed in the lamp chamber13.

The signal processor 87 is configured to specify a deviation amount ofthe imaging reference position of the camera 76 from a predeterminedposition based on a video signal VS output from the camera 76.

Similar to the signal processor 77 described with reference to FIG. 15,the signal processor 87 specifies the vanishing point VP in the capturedimage by processing the video signal VS, and specifies the deviationamount of the imaging reference point RP from the specified vanishingpoint VP.

The signal processor 87 generates a first horizontal actuation signalAH1 and a first vertical actuation signal AV1 based on the specifieddeviation amount of the imaging reference point RP, and inputs the sameto the sensor actuator 75. Since the operation of the signal processor87 related to this point is the same as that of the signal processor 77according to the seventh embodiment, repetitive descriptions for thosewill be omitted.

On the other hand, the signal processor 87 is configured to generate anadjustment signal A based on the specified deviation amount of theimaging reference point RP and input the same to the light source 88.The adjustment signal A includes information for adjusting the lightingreference position of the light source 88 in at least one of the up-downdirection and the left-right direction. More concretely, it containsinformation for determining the light emitting elements 88 a to beturned on and the light emitting elements 88 a to be turned off, so thatthe lighting reference position moves at least one of the up-downdirection and the left-right direction.

The relationship between the deviation amount of the imaging referencepoint RP in the horizontal direction and the adjustment amount of thelighting reference position in the left-right direction of the lightsource 88 can be stored in advance in the signal processor 87. Forexample, the deviation amount in the horizontal plane of the lightingreference position of the light source 88, which may occur when thedeviation amount in the horizontal direction of the imaging referencepoint RP is Δh, can be stored in the signal processor 87 as a functionor a correspondence table. The signal processor 87 generates theadjustment signal A so as to cancel the deviation amount in theleft-right direction of the lighting reference position of the lightsource 88 specified on the basis of the relationship.

Similarly, the relationship between the deviation amount of the imagingreference point RP in the vertical direction and the adjustment amountof the lighting reference position in the up-down direction of the lightsource 88 can be stored in advance in the signal processor 87. Forexample, the deviation amount in the vertical plane of the lightingreference position of the light source 88, which may occur when thedeviation amount in the vertical direction of the imaging referencepoint RP is Δv, can be stored in the signal processor 87 as a functionor a correspondence table. The signal processor 87 generates theadjustment signal A so as to cancel the deviation amount in the up-downdirection of the lighting reference position of the light source 88specified on the basis of the relationship.

The output of the adjustment signal A by the signal processor 87 is madeafter the adjustment of the lighting reference position of the lightsource 88 with respect to the housing 11 is completed.

That is, the adjustment of the lighting reference position of the lightsource 88 with the aid of the signal processor 87 is performed based onan image of the outside of the vehicle 100 (an example of information)captured by the camera 76 after the right front sensor system 8RF ismounted on the vehicle 100.

According to such a configuration, since the lighting reference positionof the light source 88 is automatically adjusted on the basis of theinformation as to the positional deviation of the right front sensorsystem 8RF with respect to the vehicle body sensed through the camera76, for example, it is possible to reduce the burden of the work foradjusting the lighting reference position of the light source 88 withrespect to the vehicle body.

From the viewpoint of efficiently obtaining information around thevehicle and from the viewpoint of design, it is desired to dispose asensor for obtaining information of the outside of the vehicle atlocations in the vicinity of lighting devices that are disposed at fourcorners of the vehicle. According to this configuration, since theposture adjustment of the light source 88 and the posture adjustment ofthe LiDAR sensor 74 can be associated with each other through the camera76, the light source 88 can be integrated into the right front sensorsystem 8RF. That is, it is possible to satisfy the above-mentioneddemand.

In addition, since the lighting reference position of the light source88 is adjusted without using a mechanical component, it is easy tosuppress an increase in size of the structure. Thus, integration of thelight source 88 into the right front sensor system 8RF is facilitated.

In the above description, the deviation amount Δh and the adjustment ofthe lighting reference position in the left-right direction areassociated in the one-by-one manner. Similarly, the deviation amount Δvand the adjustment of the lighting reference position in the up-downdirection are associated in the one-by-one manner. However, thedeviation amount Δh may be associated with the adjustment of thelighting reference position in both the left-right direction and theup-down direction. Similarly, the deviation amount Δv may be associatedwith the adjustment of the lighting reference position in both theleft-right direction and the up-down direction. In this case, forexample, when the horizontal deviation of the imaging reference point RPof the camera 76 is sensed, the necessary adjustment of the lightingreference position of the light source 88 based on the aboveassociations is performed in both the left-right direction and theup-down direction.

FIG. 17 schematically shows a configuration of a right front sensorsystem 9RF according to a ninth embodiment. Although not shown, a leftfront sensor system mounted on the left front corner of the vehicle 100has a configuration symmetrical with the right front sensor system 9RF.Components that are the same as or equivalent to those of the rightfront sensor system 7RF according to the seventh embodiment are assignedwith the same reference numerals, and repetitive descriptions for thosewill be omitted.

The right front sensor system 9RF includes a signal processor 97, whichis an example of the corrector. The signal processor 97 may be realizedas a function of an electronic control unit (ECU) mounted on the vehicle100, or may be realized as a function of a control device (controller)disposed in the lamp chamber 13.

After the right front sensor system 9RF is mounted on the vehicle 100,the signal processor 97 specifies the deviation amount of the imagingreference position of the camera 76 from the predetermined positionbased on the video signal VS output from the camera 76.

Similar to the signal processor 77 described with reference to FIG. 15,the signal processor 97 specifies the vanishing point VP in the capturedimage by processing the video signal VS, and specifies the deviationamount of the imaging reference point RP from the specified vanishingpoint VP.

As described above, the LiDAR sensor 74 outputs a sensing signal Scorresponding to the attribute of the sensed returned light (intensity,wavelength or the like). The signal processor 97 is configured toreceive the sensing signal S, and to correct the information obtainedfrom the sensing signal S based on the deviation amount of the imagingreference point RP of the camera 76 (an example of information sensed bythe second sensor). The correction may be performed on the sensingsignal S itself, or may be performed on another signal or datacorresponding to the sensing signal S.

In the present embodiment, there is no mechanism for adjusting theposture of the LiDAR sensor 74, i.e., the sensing reference position.Therefore, when a deviation of the imaging reference point RP of thecamera 76 is sensed, the posture of the LiDAR sensor 74 (the sensingreference position) is not changed so as to correspond to the deviation,but the information obtained from the LiDAR sensor 74 is corrected.Specifically, the information obtained from the LiDAR sensor 74 iscorrected to the information that would have been obtained when therewas no deviation relative to the imaging reference point RP of thecamera 76. As a result, it is possible to obtain substantially the sameinformation as the information obtained when the posture of the LiDARsensor 74 (the sensing reference position) is changed so as tocorrespond to the deviation of the imaging reference point RP of thecamera 76.

The signal processor 97 stores in advance a function or a tableindicating the correspondence between the deviation amount of theimaging reference point RP of the camera 76 and the correction to theinformation obtained from the LiDAR sensor 74. The signal processor 97executes the above-described correction processing while referring tothe function or the table.

According to such a configuration, since the configuration for adjustingthe sensing reference position of the LiDAR sensor 74 can be omitted, itis possible to reduce the burden of the work for adjusting the sensingreference position of the LiDAR sensor 74 with respect to the vehiclebody.

In addition, since the configuration for adjusting the sensing referenceposition of the LiDAR sensor 74 can be omitted, it is easy to suppressan increase in size of the structure. This facilitates the integrationof the camera 76 and the LiDAR sensor 74 into the right front sensorsystem 9RF.

The signal processor 97 generates a second horizontal actuation signalAH2 and a second horizontal actuation signal AH2 based on the specifieddeviation amount of the imaging reference point RP of the camera 76, andinputs the same to the light source actuator 79. Since the operation ofthe signal processor 97 related to this point is the same as that of thesignal processor 77 according to the seventh embodiment, repetitivedescriptions for those will be omitted.

From the viewpoint of efficiently obtaining information around thevehicle and from the viewpoint of design, it is desired to dispose asensor for obtaining information of the outside of the vehicle atlocations in the vicinity of lighting devices that are disposed at fourcorners of the vehicle. According to the configuration of the presentembodiment, since the configuration for adjusting the sensing referenceposition of the LiDAR sensor 74 can be omitted, it is easy to suppressan increase in size of the structure. Accordingly, it is possible tosatisfy the above-mentioned demand.

FIG. 18 schematically shows a right front sensor system 9RF1 accordingto a modified example of the ninth embodiment. Although not shown, aleft front sensor system mounted on the left front corner of the vehicle100 has a configuration symmetrical with the right front sensor system9RF1. Components that are the same as or equivalent to those of theright front sensor system 9RF according to the ninth embodiment areassigned with the same reference numerals, and repetitive descriptionsfor those will be omitted.

The right front sensor system 9RF1 includes a signal processor 971,which is an example of the corrector. The signal processor 971 may berealized as a function of an electronic control unit (ECU) mounted onthe vehicle 100, or may be realized as a function of a control devicedisposed in the lamp chamber 13.

After the right front sensor system 9RF1 is mounted on the vehicle 100,the signal processor 971 specifies the deviation amount of the imagingreference position of the camera 76 from the predetermined positionbased on the video signal VS output from the camera 76.

The signal processor 971 is configured to receive the sensing signal S,and to correct the information obtained from the sensing signal S basedon the deviation amount of the imaging reference point RP of the camera76 (an example of information sensed by the second sensor). Thecorrection may be performed on the sensing signal S itself, or may beperformed on another signal or data corresponding to the sensing signalS. Since the operation of the signal processor 971 related to this pointis the same as that of the signal processor 97 according to the ninthembodiment, repetitive descriptions for those will be omitted.

On the other hand, the signal processor 971 is configured to generate anadjustment signal A based on the specified deviation amount of theimaging reference point RP and input the same to the light source 88.The adjustment signal A includes information for adjusting the lightingreference position of the light source 88 in at least one of the up-downdirection and the left-right direction. Since the operation of thesignal processor 971 related to this point is the same as that of thesignal processor 87 according to the second embodiment, repetitivedescriptions for those will be omitted.

The above-described embodiments are merely examples for facilitatingunderstanding of the gist of the presently disclosed subject matter. Theconfiguration according to each of the above embodiments can beappropriately modified or improved without departing from the gist ofthe presently disclosed subject matter.

In the seventh to ninth embodiments, the LiDAR sensor 74 and the camera76 are housed in the shared housings 11. The advantages explained byreferring to each of the above embodiments can be more remarkable whenan attempt is made to locate the LiDAR sensor 74 and the camera 76 inthe lamp chamber 13 with a limited space.

In addition, by accommodating the LiDAR sensor 74 and the camera 76 in acommon housing 11, the relative position changes between them can beminimized. Accordingly, the association between the sensing referenceposition of the LiDAR sensor 74 and the imaging reference position ofthe camera 76 can be enhanced.

However, the LiDAR sensor 74 and the camera 76 may be housed in separatehousings. Alternatively, the LiDAR sensors 74 may be mounted on theexterior of a housing accommodating the camera 76.

In the seventh to ninth embodiments, the light source 78 (88) is housedin a housing 11 that is shared by the LiDAR sensor 74 and the camera 76.The advantages explained by referring to each of the seventh to ninthembodiments can be more remarkable when an attempt is made to locate thelight source 78 (88), the LiDAR sensor 74, and the camera 76 in the lampchamber 13 with a limited space.

In addition, by accommodating the light source 78 (88), LiDAR sensor 74,and camera 76 in common housing 11, the relative position changesbetween the three items can be minimized. Accordingly, the associationamong the lighting reference position of the light source 78 (88), thesensing reference position of the LiDAR sensor 74, and the imagingreference position of the camera 76 can be enhanced.

However, the light source 78 (88) may be housed in a housing that isdifferent from the housing in which the LiDAR sensor 74 and the camera76 are housed.

In the seventh to ninth embodiments, the camera 76 is arranged to obtainimages of at least ahead of the vehicle 100, and the LiDAR sensors 74are arranged to obtain information of at least on the right of thevehicle 100. However, the LiDAR sensor 74 may be arranged so as toobtain information of at least ahead of the vehicle 100.

In the seventh to ninth embodiments, a LiDAR sensor is used as a sensorfor obtaining information of the outside of the vehicle 100. However, asensor to be used may be appropriately selected depending on the type ofinformation to be obtained. As such a sensor, a millimeter wave radarsensor, an ultrasonic sonar, a visible light camera, a non-visible lightcamera or the like can be exemplified. That is, an example of the“second sensor configured to sense information of the outside of thevehicle in a different manner from the first sensor” includes a camerahaving the same configuration as the camera 76 but having a differentsensing range (sensing reference position).

In the seventh to ninth embodiments, a camera 76 for capturing an imageof the outside of the vehicle 100 is used as a sensor for providinginformation for adjusting the posture (sensing reference position) ofone of a plurality of types of sensors. In a case where the positionaldeviation of the sensor constituting the sensor system with respect tothe vehicle body is obtained as information, such information can beobtained relatively easily on the basis of the image processing.However, if it is appropriate to use other information to adjust thesensing reference position of another sensor, a type of sensor suitablefor obtaining such information may be suitably employed. For example, aconfiguration is conceivable in which the sensing reference position ofanother sensor is adjusted based on information such as the posture ofthe vehicle body obtained using the acceleration sensor.

In the seventh to ninth embodiments, the left front sensor system andthe right front sensor system are exemplified as the sensor systemcomprising the LiDAR sensor 74 and the camera 76. However, theconfiguration described with reference to the right front sensor systemis also applicable to a left rear sensor system disposed in the leftrear corner of the vehicle 100 shown in FIG. 1 and a right rear sensorsystem disposed in the right rear corner of the vehicle 100. Forexample, the right rear sensor system may have a configuration that issymmetrical with the right front sensor system relative to thefront-rear direction. The rear left sensor system may have aconfiguration symmetrical with the rear right sensor system relative tothe left-right direction.

The present application is based on Japanese Patent Application No.2016-158725 filed on Aug. 12, 2016, Japanese Patent Application No.2016-158726 filed on Aug. 12, 2016, and Japanese Patent Application No.2017-055703 filed on Mar. 22, 2017, the entire contents of which areincorporated herein by reference.

1. A sensor system adapted to be mounted on a vehicle, comprising: afirst sensor configured to sense information of an outside of thevehicle; a second sensor configured to sense information of the outsideof the vehicle in a different manner from the first sensor; and a firstadjuster configured to adjust posture of the first sensor, whereinadjustment of the posture of the first sensor by the first adjuster isperformed on the basis of the information that has been sensed by thesecond sensor.
 2. The sensor system according to claim 1, comprising: alight source configured to emit light for lighting a predetermined area;and a second adjuster configured to adjust posture of the light source,wherein adjustment of the posture of the light source by the secondadjuster is performed on the basis of the information that has beensensed by the second sensor.
 3. A sensor system adapted to be mounted ona vehicle, comprising: a first sensor configured to sense information ofan outside of the vehicle; a second sensor configured to senseinformation of the outside of the vehicle in a different manner from thefirst sensor; and a first adjuster configured to adjust a sensingreference position of the first sensor, wherein adjustment of thesensing reference position of the first sensor by the first adjuster isperformed on the basis of the information that has been sensed by thesecond sensor.
 4. The sensor system according to claim 3, comprising alight source configured to emit light for lighting a predetermined area,wherein a lighting reference position of the light source is adjusted onthe basis of the information that has been sensed by the second sensor.5. The sensor system according to claim 1, wherein the first sensor andthe second sensor are supported by a common support member.
 6. Thesensor system according to claim 3, wherein the first sensor and thesecond sensor are supported by a common support member.
 7. A sensorsystem adapted to be mounted on a vehicle, comprising: a first sensorconfigured to sense information of an outside of the vehicle; a secondsensor configured to sense information of the outside of the vehicle ina different manner from the first sensor; and a corrector configured tocorrect the information sensed by the first sensor on the basis of theinformation that has been sensed by the second sensor.
 8. The sensorsystem according to claim 7, comprising a light source configured toemit light for lighting a predetermined area, wherein a lightingreference position of the light source is adjusted on the basis of theinformation that has been sensed by the second sensor.
 9. The sensorsystem according to claim 1, wherein the second sensor is a cameraconfigured to capture an image of the outside of the vehicle.
 10. Thesensor system according to claim 3, wherein the second sensor is acamera configured to capture an image of the outside of the vehicle. 11.The sensor system according to claim 7, wherein the second sensor is acamera configured to capture an image of the outside of the vehicle. 12.The sensor system according to claim 1, wherein the first sensor isdisposed so as to obtain information of at least on the left and on theright of the vehicle; and wherein the second sensor is disposed so as toobtain information of at least ahead of and behind the vehicle.
 13. Thesensor system according to claim 3, wherein the first sensor is disposedso as to obtain information of at least on the left and on the right ofthe vehicle; and wherein the second sensor is disposed so as to obtaininformation of at least ahead of and behind the vehicle.
 14. The sensorsystem according to claim 7, wherein the first sensor is disposed so asto obtain information of at least on the left and on the right of thevehicle; and wherein the second sensor is disposed so as to obtaininformation of at least ahead of and behind the vehicle.